Travel management system

Abstract

The present application provides a travel management system of a work vehicle, which is less likely to reduce travel efficiency. The travel management system includes a travel control unit that controls travel of a work vehicle (1), wherein the travel control unit includes: a first storage unit that stores a virtual first marker (51) set with a relative position with respect to a body (10) of the work vehicle (1); a second storage unit that stores a virtual second marker (52) set with a relative position with respect to the body (10); a third storage unit that stores a first area set at a periphery of a boundary of a field outer edge portion and the field set in a state of surrounding the field; and a fourth storage unit that stores a second area set at a periphery of the boundary. The travel control unit controls travel of the work vehicle (1) to suppress the first marker (51) from going beyond an outer side of the first area and suppress the second marker (52) from going beyond an outer side of the second area.

Description

Technical Field

[0001] This invention relates to a driving management system having a driving control unit for controlling the movement of work vehicles. Background Technology

[0002] As with the system described above, for example, there is a system described in Patent Document 1. In this system, the movement of the work vehicle is controlled by a driving control unit (“control device” in Patent Document 1) so that the work vehicle (“autonomous driving work vehicle” in Patent Document 1) moves along a pre-set path in the field.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-27834 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the system described in Patent Document 1, it is assumed that due to factors such as field tilt, the operating vehicle deviates from the preset path and goes beyond the drivable area in the field.

[0008] Therefore, consider controlling the movement of the work vehicle by setting up a virtual, frame-like marker that surrounds the work vehicle when viewed from above, and defining a drivable area in the field to prevent the marker from extending beyond that area. In this case, consider a structure that, for example, performs deceleration or direction change of the work vehicle if the marker extends beyond the area.

[0009] However, in this structure, assuming the work vehicle is traveling near the boundary of the aforementioned area, when the work vehicle passes through a section that is actually passable, the marker will extend beyond the outer edge of the aforementioned area. As a result, it is assumed that unnecessary deceleration or direction changes will be performed, leading to a decrease in driving efficiency.

[0010] The purpose of this invention is to provide a driving management system that does not easily reduce the driving efficiency of work vehicles.

[0011] Technical solutions for solving the problem

[0012] The present invention is characterized by providing a driving management system comprising a driving control unit for controlling the driving of a work vehicle, wherein the system comprises: a first storage unit storing a virtual first marker having a relative position to the body of the work vehicle; a second storage unit storing a virtual second marker having a relative position to the body of the work vehicle; a third storage unit storing a first region located around the outer edge of a field and the boundary of the field, the first region being set in a manner that surrounds the field; and a fourth storage unit storing a second region located around the boundary. The driving control unit controls the driving of the work vehicle to prevent the first marker from extending beyond the first region and to prevent the second marker from extending beyond the second region.

[0013] In this invention, two virtual markers, a first marker and a second marker, are set. Furthermore, the driving control unit controls the movement of the work vehicle to prevent the first marker from extending beyond the first area and to prevent the second marker from extending beyond the second area.

[0014] Therefore, the first marker is allowed to extend beyond the second area, and the second marker is allowed to extend beyond the first area. Thus, by appropriately setting the first and second markers according to the three-dimensional shape of the work vehicle, and setting two areas corresponding to these markers, the driving efficiency of the work vehicle is not easily reduced.

[0015] For example, typically, the outer edge of a field slopes higher as it extends outwards. Here, if a first marker is set in a manner corresponding to the shape of the portion of the work vehicle below height X, a second marker is set in a manner corresponding to the shape of the portion of the work vehicle above height X, a first area is set in a manner corresponding to the outer edge of the field and the boundary of the field, and a second area is set in a manner corresponding to the line connecting various points at height X in the outer edge of the field, then the work vehicle is controlled to prevent the portion of the work vehicle below height X from extending outwards from the outer edge of the field and the boundary of the field, and to prevent the portion of the work vehicle above height X from extending outwards from the line connecting various points at height X in the outer edge of the field.

[0016] At this point, the portion of the work vehicle exceeding height X is allowed to extend outwards from the outer edge and boundary of the field. Therefore, compared to a structure that controls the movement of the work vehicle by preventing the portion exceeding height X from extending outwards from the outer edge and boundary of the field, it is less likely to cause unnecessary suppression of the work vehicle's movement. Consequently, the efficiency of the work vehicle's movement is less likely to decrease.

[0017] Thus, in this invention, it is less likely to cause situations that unnecessarily inhibit the movement of work vehicles. As a result, a driving management system that minimizes the reduction in the driving efficiency of work vehicles can be achieved.

[0018] Furthermore, in this invention, it is preferable that the first marker corresponds to the top view of the first part of the body, and the second marker corresponds to the top view of the second part of the body, with the first part and the second part located at different heights.

[0019] Based on this structure, a driving management system can be implemented whereby, given the differences in the top-view shape of the first part and the top-view shape of the second part, the working vehicle can travel over a wide area of ​​the field by utilizing the differences in the shapes.

[0020] For example, typically, the outer edge of a field slopes upwards towards the outer edge. Here, when viewed from above, the second part protrudes further outwards than the first part and is positioned higher than the first part, allowing at least the second part to extend beyond the outer edge of the field and the field's boundary. Based on this structure, the movement of the work vehicle can be controlled by allowing at least the second part to extend beyond the outer edge of the field and the field's boundary. Thus, a driving management system that enables the work vehicle to travel over a wide area of ​​the field can be realized.

[0021] In addition, in this invention, the first part is preferably a frame, and the second part is a working device supported on the frame.

[0022] Based on this structure, the top-view shapes of the first part and the second part are different. Furthermore, a driving management system can be implemented that utilizes the differences in the shapes of each part to allow the work vehicle to travel over a wide range of fields.

[0023] For example, typically, the outer edge of a field slopes upwards towards the outer edge. Here, when viewed from above, the working device protrudes beyond the outer edge of the machine frame and is positioned higher than the machine frame, allowing the working device to extend beyond the outer edge of the field and the field boundary. Based on this structure, the movement of the work vehicle can be controlled by allowing the working device to extend beyond the outer edge of the field and the field boundary. Thus, a driving management system that enables work vehicles to utilize a wide range of field terrain can be implemented.

[0024] Furthermore, in this invention, it is preferable that the working device is configured to be height-adjustable relative to the frame, and the second marker corresponds to the top view of the working device when it is raised to a predetermined height.

[0025] According to this structure, when the working device is raised to a height above a specified level, it can easily be positioned higher than the machine frame. This allows for a driving management system that utilizes the differences in shape and height between the machine frame and the working device when viewed from above, enabling the vehicle to travel over a wide range of terrain.

[0026] For example, typically, the outer edge of a field slopes upwards towards the outer edge. Here, when viewed from above, the working device protrudes beyond the outer edge of the machine frame and is positioned higher than the machine frame, allowing the working device to extend beyond the outer edge of the field and the field boundary. Based on this structure, the movement of the work vehicle can be controlled by allowing the working device to extend beyond the outer edge of the field and the field boundary. Thus, a driving management system that enables work vehicles to utilize a wide range of field terrain can be implemented.

[0027] Furthermore, in this invention, it is preferable to include a marker setting unit that sets the second marker based on the shape of the working device.

[0028] Given the existence of various work devices that can be installed on work vehicles, it is assumed that the shape of the work device varies depending on the type of work device. In cases where the shape of the work device varies depending on the type of work device, the appropriate position and shape of the second marker also vary depending on the type of work device.

[0029] Here, based on the aforementioned structure, the second marker is set according to the shape of the working device. Therefore, even when there are various working devices that can be installed on a working vehicle, the position and shape of the second marker can easily be made appropriate.

[0030] Furthermore, in this invention, it is preferable to include: an acquisition unit that acquires outer edge information representing the position and height of the outer edge of the field; and a region setting unit that sets the first region and the second region based on the height position of the first part, the height position of the second part, and the outer edge information.

[0031] Based on this structure, a first region can be defined corresponding to the portion of the outer edge of the field located at the height of the first part, and a second region can be defined corresponding to the portion of the outer edge of the field located at the height of the second part. This allows for a driving management system that easily and appropriately defines the first and second regions.

[0032] Furthermore, in this invention, it is preferable that the first storage unit stores a plurality of the first markers, the plurality of first markers including a first inner marker and a first outer marker located outside the first inner marker; the second storage unit stores a plurality of the second markers, the plurality of second markers including a second inner marker and a second outer marker located outside the second inner marker; the driving control unit is configured to execute a first control when at least one of a first condition and a second condition is met, the first condition being that the first outer marker extends outward from the first region, and the second condition being that the second outer marker extends outward from the second region; the driving control unit is configured to execute a second control, which is different from the first control, when at least one of a third condition and a fourth condition is met, the third condition being that the first inner marker extends outward from the first region, and the fourth condition being that the second inner marker extends outward from the second region; the second control is executed with priority over the first control.

[0033] Based on this structure, a system can be implemented whereby first control is executed when the body of the work vehicle approaches the boundary of the first or second region to a certain extent, and second control is executed when the body of the work vehicle further approaches the boundary of the first or second region. Thus, a driving management system can be implemented that performs appropriate driving control based on the degree of proximity of the work vehicle's body to the boundary of the first or second region.

[0034] Furthermore, in this invention, it is preferable that the driving control unit is configured to prevent the content of the driving control of the work vehicle from changing from a state that satisfies only one of the first condition and the second condition to a state that satisfies both the first condition and the second condition, and the driving control unit is configured to prevent the content of the driving control of the work vehicle from changing from a state that satisfies only one of the third condition and the fourth condition to a state that satisfies both the third condition and the fourth condition.

[0035] According to this structure, when the first control and the second control are for controlling the movement of the work vehicle, it is easy to avoid situations where the movement of the work vehicle is suppressed to an excessive degree.

[0036] For example, in the case where the first control is to reduce the speed of the work vehicle, the speed of the work vehicle decreases if only one of the first and second conditions is met. If the situation changes from this state to a state that satisfies both the first and second conditions, and the speed reduction of the work vehicle becomes more severe, it is assumed that the speed of the work vehicle has decreased excessively. As a result, the movement of the work vehicle will be suppressed to a degree that is more than necessary.

[0037] Here, according to the aforementioned structure, the degree of speed reduction of the work vehicle does not increase as the state changes from satisfying only one of the first and second conditions to satisfying both the first and second conditions. Therefore, it is easy to avoid a situation where the movement of the work vehicle is suppressed to an excessive degree.

[0038] Thus, based on the aforementioned structure, it is easy to avoid situations where the movement of work vehicles is suppressed to an excessive degree.

[0039] Furthermore, in this invention, preferably, the plurality of first markers includes a first intermediate marker located outside the first inner marker and inside the first outer marker, and the plurality of second markers includes a second intermediate marker located outside the second inner marker and inside the second outer marker. The driving control unit is configured to execute a control, i.e., a third control, that is different from both the first control and the second control when at least one of a fifth condition and a sixth condition is met. The fifth condition is that the first intermediate marker extends outward from the first area, and the sixth condition is that the second intermediate marker extends outward from the second area. The second control is executed with priority over the first control and the third control, and the third control is executed with priority over the first control. The first control is a control to reduce the speed of the work vehicle, the second control is a control to stop the work vehicle, and the third control is a control to change the direction of travel of the work vehicle.

[0040] Based on this structure, a system can be implemented whereby, when the body of the work vehicle approaches the boundary of the first or second area to a certain extent, the vehicle speed decreases; upon further approach, the vehicle's direction of travel is changed; and upon even closer approach, the vehicle stops. Thus, a driving management system can be implemented that performs appropriate driving control based on the degree of approach of the work vehicle's body to the boundary of the first or second area.

[0041] In addition, in this invention, it is preferable that both the first marker and the second marker are frame-shaped and have a changing part that changes the size of the first marker and the second marker according to the speed of the working vehicle.

[0042] This structure enables a system where the higher the speed of the working vehicle, the larger the first and second markers become. This, in turn, allows for a driving management system capable of appropriate driving control.

[0043] For example, if the first marker extends beyond the outer edge of the first area or the second marker extends beyond the outer edge of the second area, speed control is implemented to reduce the speed of the work vehicle. Furthermore, if the size of both the first and second markers remains constant regardless of the work vehicle's speed, and the work vehicle is traveling at a high speed when the first or second marker extends beyond the outer edge of the first or second area, emergency braking is often required to prevent the work vehicle from extending beyond the outer edge of either area. This results in adverse conditions such as roughening of the field surface.

[0044] Here, according to the aforementioned structure, it is possible to achieve a configuration where the higher the speed of the work vehicle, the larger the first and second markers become. With this structure, when the work vehicle's speed is high, the distance between the work vehicle's body and the boundary of the first or second area is longer when the first marker extends beyond the outer edge of the first area or the second marker extends beyond the outer edge of the second area. Therefore, even with slow braking, it is easier to prevent the work vehicle's body from extending beyond the outer edge of the first or second area. Consequently, adverse conditions such as roughening the field surface are less likely to occur, and appropriate driving control can be achieved.

[0045] Furthermore, in this invention, it is preferable that the driving control unit controls the driving of the work vehicle so that, regardless of whether the work vehicle is moving forward or backward, the first marker is prevented from extending beyond the first area, and the second marker is prevented from extending beyond the second area.

[0046] According to this structure, it is unlikely that any situation will occur that unnecessarily inhibits the movement of the work vehicle, whether it is moving forward or backward. As a result, a driving management system can be implemented that ensures that the driving efficiency of the work vehicle is not easily reduced, regardless of whether it is moving forward or backward. Attached Figure Description

[0047] Figure 1 This is a left-side view of a combine harvester.

[0048] Figure 2 This is a top view of a combine harvester.

[0049] Figure 3 This is a diagram showing the first operation's movement.

[0050] Figure 4This is a diagram showing the second operation's movement.

[0051] Figure 5 It is a block diagram representing the structure related to the control unit.

[0052] Figure 6 This is a diagram showing an example of a map of the outer edge.

[0053] Figure 7 This is a diagram representing an example of the first, second, and third regions.

[0054] Figure 8 This is a diagram representing the first identifier, the second identifier, and the third identifier.

[0055] Figure 9 It is a diagram that shows the locations of the first, second, and third regions, etc.

[0056] Figure 10 It is a flowchart of the control program.

[0057] Figure 11 This is a top view showing an example of a combine harvester moving through a field approaching the outer edge of the field.

[0058] Figure 12 This is a top view showing an example of a combine harvester moving through a field approaching the outer edge of the field.

[0059] Figure 13 This is a top view showing an example of a combine harvester changing direction during harvesting travel, where the second path generation unit generates the target travel path.

[0060] Figure 14 This is a top view showing an example of a combine harvester changing direction during harvesting travel, where the second path generation unit generates the target travel path.

[0061] Figure 15 This is a top view showing an example of a combine harvester changing direction during harvesting travel, where the second path generation unit generates the target travel path.

[0062] Figure 16 This is a top view showing an example of a combine harvester changing direction during harvesting travel, where the second path generation unit generates the target travel path.

[0063] Figure 17 This is a top view showing an example of a combine harvester moving towards a discharge point, where the second path generation unit generates the target travel path.

[0064] Figure 18This is a top view showing an example of a combine harvester moving towards a discharge point, where the second path generation unit generates the target travel path. Detailed Implementation

[0065] The embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description, unless otherwise specified, [the following will be used as a general term]. Figure 1 and Figure 2 The direction of arrow F is set to "forward", and the direction of arrow B is set to "backward". Figure 2 The direction of arrow L is set to "left", and the direction of arrow R is set to "right". Additionally, [the following text is incomplete and requires further context: "to set the direction of arrow L to "left" and arrow R to "right"]. Figure 1 The direction of arrow U is set to "up", and the direction of arrow D is set to "down".

[0066] [The overall structure of a combine harvester]

[0067] The full-feed type combine harvester 1 of this embodiment (equivalent to the "operating vehicle" of the present invention) will be described. Figure 1 and Figure 2 As shown, the combine harvester 1 has the following components: a frame 9, a harvesting section H (equivalent to the "working device" of the present invention), a tracked traveling device 11, a driving section 12, a threshing device 13, a grain box 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0068] The travel device 11 is located at the lower part of the body 10 of the combine harvester 1. Furthermore, the travel device 11 is driven by power from an engine (not shown). Moreover, the combine harvester 1 can move independently using the travel device 11.

[0069] Additionally, the driver's unit 12, threshing device 13, and grain bin 14 are mounted on the upper side of the traveling device 11. Furthermore, the driver's unit 12, threshing device 13, and grain bin 14 are supported by the machine frame 9. An operator monitoring the operation of the combine harvester 1 can sit in the driver's unit 12. Furthermore, the operator can also monitor the operation of the combine harvester 1 from outside the machine.

[0070] Frame 9 (reference) Figure 8 It is constructed by connecting multiple long metal components into a grid pattern.

[0071] like Figure 1 and Figure 2 As shown, the grain discharge device 18 is located on the upper side of the grain bin 14. Additionally, the satellite positioning module 80 is mounted on the upper surface of the driver's unit 12.

[0072] The harvesting section H is located at the front of the machine body 10. Furthermore, the conveying section 16 is located at the rear of the harvesting section H. The harvesting section H also includes a cutting device 15 and a reel 17.

[0073] Harvesting device 15 harvests 5 acres of land (refer to) Figure 3 The harvesting device 15 harvests the standing rice stalks. Additionally, the reel 17 rotates around its shaft 17b, which runs along the left-right direction of the machine body, while simultaneously feeding in the standing rice stalks to be harvested. The harvested rice stalks, cut by the harvesting device 15, are then conveyed to the transport section 16.

[0074] With this structure, the harvesting section H harvests the crops in field 5. Moreover, the combine harvester 1 can simultaneously use the cutting device 15 to cut the standing rice stalks in field 5 and travel by the travel device 11.

[0075] The harvested rice stalks, cut by the harvesting section H, are conveyed to the rear of the machine by the conveying section 16. From there, the harvested rice stalks are fed into the threshing unit 13.

[0076] In the threshing device 13, the harvested rice stalks are threshed. The resulting grains are stored in the grain bin 14. The grains stored in the grain bin 14 are discharged out of the machine as needed using the grain discharge device 18.

[0077] Here, as Figure 3 and Figure 4 As shown, the combine harvester 1 is configured to harvest crops in a field 5 located inside the outer edge 6 of the field. Furthermore, the outer edge 6 of the field is arranged to surround the field 5. The outer edge 6 includes, for example, a field ridge 61 and a water supply and drainage pump 62 (see reference). Figure 6 )wait.

[0078] like Figure 3 As shown, the combine harvester 1 is configured to perform a first working motion. This first working motion is conducted within the outer perimeter area SA of the field 5. Furthermore, as... Figure 4 As shown, the outer perimeter area SA is the area located on the outer perimeter of field 5.

[0079] In this embodiment, the number of orbits during the first operational trip is one. However, the present invention is not limited to this, and the number of orbits during the first operational trip can be any number of times, such as two or more.

[0080] Moreover, after the combine harvester 1 completed its first operational run, as Figure 4 The second operation is performed as shown, thereby enabling operation in field 5. The second operation is performed after the first operation, in the operation target area CA, which is located inside the outer perimeter area SA.

[0081] Furthermore, specifically, the "operational travel" in this embodiment refers to a harvesting travel that involves moving while cutting upright rice stalks. However, the present invention is not limited to this; as the aforementioned "operational travel," it is also possible to perform operations other than cutting upright rice stalks while traveling.

[0082] In this embodiment, Figure 3 The first operation shown is performed manually. Additionally, Figure 4 The second operation shown is performed automatically. However, the invention is not limited to this; the first operation can also be performed automatically. Furthermore, the second operation can also be performed manually.

[0083] [Structure related to the control department]

[0084] like Figure 5 As shown, the combine harvester 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, a work area calculation unit 22, a first path generation unit 23, and an automatic driving control unit 24. The automatic driving control unit 24 controls the automatic driving of the combine harvester 1. In addition, the automatic driving control unit 24 includes a path selection unit 27 and a driving control unit 29.

[0085] like Figure 1 As shown, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Furthermore, as... Figure 5 As shown, the satellite positioning module 80 sends the positioning data representing the location of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signal.

[0086] Furthermore, the present invention is not limited thereto. The satellite positioning module 80 may also not utilize GPS. For example, the satellite positioning module 80 may also utilize GNSS other than GPS (GLONASS, Galileo, QZSS, BeiDou, etc.).

[0087] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 over time are sent to the work area calculation unit 22 and the automatic driving control unit 24.

[0088] The work area calculation unit 22 calculates the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, such as... Figure 4 The calculation shows the outer perimeter area SA and the work object area CA.

[0089] More specifically, the work area calculation unit 22 calculates the travel trajectory of the combine harvester 1 during its first work trip in the field 5 based on the time-varying position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, based on the calculated travel trajectory of the combine harvester 1, the work area calculation unit 22 calculates the area where the combine harvester 1 performs its first work trip as the outer perimeter region SA. In addition, the work area calculation unit 22 calculates the area surrounded by the calculated outer perimeter region SA as the work target region CA.

[0090] For example, in Figure 3 In the diagram, arrows indicate the travel path of combine harvester 1 during the first operation in field 5. When the harvesting along this path is completed, field 5 becomes... Figure 4 The state shown.

[0091] like Figure 4 As shown, the work area calculation unit 22 calculates the area where the combine harvester 1 performs its first work travel as the outer perimeter area SA. Additionally, the work area calculation unit 22 calculates the area enclosed by the calculated outer perimeter area SA as the work target area CA.

[0092] Then, as Figure 5 As shown, the calculation results generated by the work area calculation unit 22 are sent to the first path generation unit 23.

[0093] The first path generation unit 23, based on the calculation results received from the work area calculation unit 22, such as... Figure 4 As shown, the cutting path LI is the driving path used for cutting within the generated task object area CA. Furthermore, as... Figure 4 As shown, in this embodiment, the driving path LI is a plurality of grid lines extending in both longitudinal and transverse directions. Furthermore, the plurality of grid lines may not be straight lines, but may be curved.

[0094] like Figure 5 As shown, multiple cut-out driving paths LI generated by the first path generation unit 23 are sent to the automatic driving control unit 24.

[0095] The path selection unit 27 in the automatic driving control unit 24 selects the harvesting path LI that the combine harvester 1 should continue to travel based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and multiple harvesting paths LI received from the first path generation unit 23. Information indicating the harvesting path LI selected by the path selection unit 27 is sent to the driving control unit 29.

[0096] The driving control unit 29 is configured to control the driving device 11. Furthermore, the driving control unit 29 controls the automatic driving of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and information indicating the harvesting driving path LI selected by the path selection unit 27. More specifically, as... Figure 4 As shown, the driving control unit 29 controls the driving of the combine harvester 1 to perform harvesting driving by automatically driving along the harvesting driving path LI.

[0097] In this automatic driving, the driving control unit 29 controls the driving of the combine harvester 1 to continue the current harvesting driving path LI and perform harvesting driving along the harvesting driving path LI selected by the path selection unit 27.

[0098] like Figure 1 and Figure 5 As shown, the combine harvester 1 includes a cutting cylinder 15A. The cutting cylinder 15A is connected to the machine frame 9. The conveying section 16 and the harvesting section H are supported by the cutting cylinder 15A. That is, the conveying section 16 and the harvesting section H are supported by the machine frame 9 via the cutting cylinder 15A.

[0099] In addition, the rear end of the conveying section 16 is connected to the threshing device 13. Through this structure, the conveying section 16 and the harvesting section H are supported on the machine frame 9 via the threshing device 13.

[0100] The travel control unit 29 is configured to control the cutting cylinder 15A. When the travel control unit 29 controls the cutting cylinder 15A in the extension direction, the conveying unit 16 and the harvesting unit H swing together in the direction in which the harvesting unit H rises. As a result, the harvesting unit H rises relative to the machine frame 9.

[0101] Furthermore, when the travel control unit 29 controls the cutting cylinder 15A in the retraction direction, the conveying unit 16 and the harvesting unit H swing together in the direction in which the harvesting unit H descends. As a result, the harvesting unit H descends relative to the machine frame 9.

[0102] Through this structure, the driving control unit 29 can control the raising and lowering of the harvesting unit H. Furthermore, the harvesting unit H is configured to be able to rise and fall relative to the machine frame 9.

[0103] Furthermore, the control unit 20 and the vehicle position calculation unit 21 contained in the control unit 20 can be physical devices such as microcomputers, or they can be functional software units.

[0104] [Structures related to the outer edge of the map]

[0105] like Figure 1 , Figure 2 , Figure 5As shown, the combine harvester 1 is equipped with a detection device 31. The detection device 31 takes the portion of the outer edge 6 of the field located in front of the machine body 10 in the direction of travel as the detection object, and detects the state of the outer edge 6 of the field while the combine harvester 1 is traveling in the field.

[0106] In detail, the detection device 31 in this embodiment is a Time-of-Flight (ToF) measurement device, i.e., a two-dimensional scanning LiDAR. However, the present invention is not limited to this; the detection device 31 may also be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the detection device 31 is not limited to the ToF measurement method; it may also be a stereo matching measurement method, etc.

[0107] like Figure 5 As shown, the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 are sent to the detection device 31. Then, based on the measurement results of the ToF measurement method and the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, the detection device 31 outputs an indicator of the presence of the combine harvester 1 in the forward region FA (refer to...). Figure 1 The detection device 31 collects point group data on the position and height of objects. Using this structure, while traveling through the field, the detection device 31 detects the position and height of objects existing in the area in front of the machine body 10 in the direction of travel, i.e., the forward area FA. Thus, the detection device 31 detects the three-dimensional shape of the outer edge 6 of the field.

[0108] Furthermore, the present invention is not limited to this; the detection device 31 can be any type of device as long as it can detect the position and height of the outer edge 6 of the field.

[0109] like Figure 5 As shown, the control unit 20 includes a map generation unit 25 (equivalent to the "acquisition unit" of the present invention). The detection results generated by the detection device 31 are sent to the map generation unit 25.

[0110] The map generation unit 25 generates an outer edge map (equivalent to the "outer edge information" of this invention) based on the detection results generated by the detection device 31. Thus, the map generation unit 25 acquires the outer edge map. The outer edge map is a map showing the distribution of the state of the outer edge 6 of the field. In this embodiment, the outer edge map shows the distribution of the three-dimensional shape of the outer edge 6 of the field. That is, the outer edge map shows the position and height of the outer edge 6 of the field.

[0111] exist Figure 6 An example of an outer edge map generated by the map generation unit 25 is shown. Figure 6 The map of the outer edge shown includes the location and three-dimensional shape of the side portion 61a of the field ridge 61, the location and three-dimensional shape of the upper surface portion 61b of the field ridge 61, and the location and three-dimensional shape of the water supply and drainage pump 62.

[0112] also, Figure 6 The map of the outer edge shown corresponds to the entire perimeter of the outer edge 6 of the field. That is, the map of the outer edge represents the distribution of the state covering the entire perimeter of the outer edge 6 of the field. However, the present invention is not limited thereto.

[0113] For example, when the detection device 31 detects the condition of only a portion of the outer edge 6 of the field, a map representing the distribution of the condition of only that portion can be generated as an outer edge map. Alternatively, in this case, the outer edge map can be updated as the combine harvester 1 travels through the field 5 and the area where the condition was detected by the detection device 31 expands. In this case, the area represented by the outer edge map expands as the combine harvester 1 travels through the field 5 for harvesting.

[0114] Here, the operation and movement of combine harvester 1 are carried out by... Figure 5 The operation system SY (equivalent to the "driving management system" of this invention) is used for management. The operation system SY includes a control unit 20, a detection device 31, and a satellite positioning module 80. That is, the operation system SY has a map generation unit 25 that acquires a map of the outer edge of the field 6, showing the position and height of the outer edge.

[0115] Furthermore, the present invention is not limited thereto; the operating system SY may not include the detection device 31, nor may it include the satellite positioning module 80. Additionally, the operating system SY may also include a combine harvester 1.

[0116] like Figure 5 As shown, the operating system SY includes a travel control unit 29 for controlling the movement of the combine harvester 1. Furthermore, as detailed later, the operating system SY is configured based on an outer edge map, such as... Figure 7 The diagram shows the first region 41, the second region 42, and the third region 43.

[0117] In addition, details will be provided later, such as Figure 8 As shown, the operating system SY stores multiple virtual first identifiers 51, multiple virtual second identifiers 52, and multiple virtual third identifiers 53. Furthermore, the driving control unit 29 is configured to control the driving of the combine harvester 1 based on the first region 41, the second region 42, the third region 43, the multiple first identifiers 51, the multiple second identifiers 52, and the multiple third identifiers 53.

[0118] The following is a detailed description of the control of the combine harvester 1 by the travel control unit 29.

[0119] [Regarding the first identifier, the second identifier, and the third identifier]

[0120] like Figure 5As shown, the control unit 20 includes an identifier management unit 70. The identifier management unit 70 includes an identifier storage unit 71 (corresponding to the "first storage unit" and "second storage unit" of the present invention). The identifier storage unit 71 stores... Figure 8 The multiple first identifiers 51, multiple second identifiers 52, and multiple third identifiers 53 are shown.

[0121] Each of the first markers 51, the second markers 52, and the third markers 53 is a virtual marker with a relative position to the body 10.

[0122] Thus, the operating system SY includes an identifier storage unit 71 that stores virtual first identifiers 51 with relative positions to the body 10 of the combine harvester 1. Furthermore, the identifier storage unit 71 stores a plurality of first identifiers 51. Additionally, the operating system SY includes an identifier storage unit 71 that stores virtual second identifiers 52 with relative positions to the body 10. Furthermore, the identifier storage unit 71 stores a plurality of second identifiers 52.

[0123] like Figure 8 As shown, each of the first identifiers 51, the second identifiers 52, and the third identifiers 53 are frame-shaped. That is, both the first identifier 51 and the second identifier 52 are frame-shaped.

[0124] The plurality of first identifiers 51 include a first outer identifier 51a, a first middle identifier 51b, and a first inner identifier 51c. Furthermore, the first outer identifier 51a, the first middle identifier 51b, and the first inner identifier 51c are all first identifiers 51.

[0125] The first outer marker 51a is located outside the first inner marker 51c. The first intermediate marker 51b is located outside the first inner marker 51c and inside the first outer marker 51a.

[0126] That is, the plurality of first markers 51 includes a first inner marker 51c and a first outer marker 51a located outside the first inner marker 51c. Additionally, the plurality of first markers 51 includes a first intermediate marker 51b located outside the first inner marker 51c and inside the first outer marker 51a. Furthermore, the operating system SY includes a marker storage unit 71 that stores a virtual first inner marker 51c with a relative position to the body 10 of the combine harvester 1.

[0127] The plurality of second identifiers 52 include a second outer identifier 52a, a second middle identifier 52b, and a second inner identifier 52c. Furthermore, the second outer identifier 52a, the second middle identifier 52b, and the second inner identifier 52c are all second identifiers 52.

[0128] The second outer marker 52a is located outside the second inner marker 52c. The second middle marker 52b is located outside the second inner marker 52c and inside the second outer marker 52a.

[0129] That is, the plurality of second identifiers 52 includes a second inner identifier 52c and a second outer identifier 52a located outside the second inner identifier 52c. Additionally, the plurality of second identifiers 52 includes a second intermediate identifier 52b located outside the second inner identifier 52c and inside the second outer identifier 52a. Furthermore, the operating system SY includes an identifier storage unit 71 that stores virtual second inner identifiers 52c with their relative positions to the body 10.

[0130] The plurality of third identifiers 53 include a third outer identifier 53a, a third middle identifier 53b, and a third inner identifier 53c. Furthermore, the third outer identifier 53a, the third middle identifier 53b, and the third inner identifier 53c are all third identifiers 53.

[0131] The third outer marker 53a is located outside the third inner marker 53c. The third middle marker 53b is located outside the third inner marker 53c and inside the third outer marker 53a.

[0132] In this embodiment, such as Figure 8 As shown, a first marker 51, a second marker 52, and a third marker 53 are provided to correspond to the parts when the machine body 10 is divided into three in the height direction. More specifically, each first marker 51 corresponds to the top view of the first part 10a of the machine body 10. Furthermore, each second marker 52 corresponds to the top view of the second part 10b of the machine body 10. Additionally, each third marker 53 corresponds to the top view of the third part 10c of the machine body 10.

[0133] That is, the first inner marking 51c corresponds to the top view of the first part 10a in the body 10. In addition, the second inner marking 52c corresponds to the top view of the second part 10b in the body 10.

[0134] like Figure 8 As shown, the third part 10c is located at the bottom when the machine body 10 is divided into three parts in the vertical direction. The first part 10a is located in the center when the machine body 10 is divided into three parts in the vertical direction. The second part 10b is located at the top when the machine body 10 is divided into three parts in the vertical direction.

[0135] That is, the first part 10a and the second part 10b are located at different heights.

[0136] In this embodiment, the first part 10a is the frame 9. The second part 10b is the harvesting section H. That is, the second part 10b is the harvesting section H supported on the frame 9. The third part 10c is the traveling device 11.

[0137] Here, as Figure 8 As shown, each of the second markers 52 corresponds to the top view of the harvesting section H when it is raised to a reference height HA (equivalent to the "prescribed height" of the present invention). That is, the second inner marker 52c corresponds to the top view of the harvesting section H when it is raised to a reference height HA.

[0138] In this embodiment, the reference height HA is the same as the height of the upper end of the fuselage frame 9. However, the present invention is not limited to this; the reference height HA may be lower or higher than the upper end of the fuselage frame 9.

[0139] Alternatively, the height of the harvesting section H can also be the height of a specific part of the harvesting section H. For example, the height of the lower end of the harvesting section H can be used as the height of the harvesting section H, and the height of the front end of the harvesting section H can also be used as the height of the harvesting section H.

[0140] Moreover, in this embodiment, such as Figure 8 As shown, each first marker 51 is a frame surrounding the machine frame 9 when viewed from above. Similarly, each second marker 52 is a frame surrounding the harvesting section H, the threshing device 13, and the grain bin 14 when viewed from above. In particular, each second marker 52 is a frame surrounding the harvesting section H when viewed from above. Furthermore, each third marker 53 is a frame surrounding the traveling device 11 when viewed from above.

[0141] like Figure 5 As shown, the control unit 20 includes a body information storage unit 33. The body information storage unit 33 stores various information related to the body 10. For example, the body information storage unit 33 stores information indicating the shape of the harvesting section H. The information indicating the shape of the harvesting section H could also be information indicating the type or form of the harvesting section H.

[0142] In addition, the identifier management unit 70 includes an identifier setting unit 72. The identifier management unit 70 obtains information stored in the machine information storage unit 33 from the machine information storage unit 33. The identifier setting unit 72 sets each of the first identifiers 51, each of the second identifiers 52, and each of the third identifiers 53 based on the obtained information.

[0143] More specifically, the identifier setting unit 72 sets each first identifier 51 based on information indicating the shape of the frame 9 and information indicating the position of the frame 9 in the body 10. In addition, the information indicating the shape of the frame 9 and the information indicating the position of the frame 9 in the body 10 are stored in the body information storage unit 33.

[0144] Additionally, the identifier setting unit 72 sets each second identifier 52 based on information indicating the shape of the harvesting section H and information indicating the position of the harvesting section H within the machine body 10. Furthermore, the information indicating the shape of the harvesting section H and the information indicating the position of the harvesting section H within the machine body 10 are stored in the machine body information storage unit 33.

[0145] Additionally, the identifier setting unit 72 sets each third identifier 53 based on information indicating the shape of the driving device 11 and information indicating the position of the driving device 11 in the body 10. Furthermore, the information indicating the shape of the driving device 11 and the information indicating the position of the driving device 11 in the body 10 are stored in the body information storage unit 33.

[0146] Thus, the operating system SY includes a marker setting unit 72 that sets the second marker 52 based on the shape of the harvesting section H. Additionally, the operating system SY includes a marker setting unit 72 that sets the second inner marker 52c based on the shape of the harvesting section H.

[0147] Each first identifier 51, each second identifier 52, and each third identifier 53 set by the identifier setting unit 72 are stored in the identifier storage unit 71.

[0148] [Regarding Zone 1, Zone 2, and Zone 3]

[0149] like Figure 5 As shown, the control unit 20 includes a region management unit 75. The region management unit 75 includes a region storage unit 76 (corresponding to the "third storage unit" and "fourth storage unit" of this invention). The region storage unit 76 stores... Figure 7 The first region 41, the second region 42, and the third region 43 are shown as shown.

[0150] like Figure 5 As shown, the area management unit 75 includes an area setting unit 77. The area setting unit 77 is configured to set a first area 41, a second area 42, and a third area 43 based on the aforementioned outer edge map. The first area 41, the second area 42, and the third area 43 set by the area setting unit 77 are stored in the area storage unit 76.

[0151] Here, Figure 7 The first region 41, the second region 42, and the third region 43 shown are based on Figure 6 The area defined on the outer edge of the map shown. For example... Figure 6 , Figure 7 , Figure 9 As shown, the outlines of the first region 41, the second region 42, and the third region 43 are all set around the perimeter of the outer edge of the field 6 and the boundary of the field 5.

[0152] That is, the operating system SY includes a region storage unit 76, which stores a first region 41 set around the perimeter of the outer edge 6 of the field 5 and the boundary of the field 5, which is set in a state surrounding the field 5. In addition, the operating system SY includes a region storage unit 76 that stores a second region 42 set around the perimeter of the boundary.

[0153] Here, as Figure 5 As shown, the area management unit 75 obtains information stored in the unit information storage unit 33. Additionally, the area management unit 75 obtains an outer edge map from the map generation unit 25. Based on the information obtained by the area management unit 75 from the unit information storage unit 33 and the outer edge map, the area setting unit 77 sets up a first area 41, a second area 42, and a third area 43.

[0154] More specifically, the region setting unit 77 sets up a first region 41 based on information indicating the height position of the frame 9 and a map of the outer edge. Furthermore, the information indicating the height position of the frame 9 is stored in the frame information storage unit 33.

[0155] In this embodiment, such as Figure 9 As shown, the area setting unit 77 sets lines connecting the outer edge of the field 6 and the locations at the same height as the lower end of the frame 9 as the outer shape lines of the first area 41.

[0156] Additionally, the region setting unit 77 sets a second region 42 based on information indicating the height position of the harvesting section H, which has risen above the reference height HA, and an outer edge map. Furthermore, the information indicating the height position of the harvesting section H, which has risen above the reference height HA, is stored in the machine information storage unit 33.

[0157] In this embodiment, such as Figure 9 As shown, the area setting unit 77 sets lines connecting various locations in the outer edge of the field 6 at the same height as the lower end of the harvesting section H, which is in a state of rising above the reference height HA, as the outline of the second area 42.

[0158] Thus, the operating system SY has a region setting unit 77, which sets a first region 41 and a second region 42 based on the height position of the first part 10a, the height position of the second part 10b, and the outer edge map.

[0159] In addition, the area setting section 77 sets up the third area 43 based on the outer edge map.

[0160] In this embodiment, such as Figure 9 As shown, the area setting unit 77 sets the outline of the third area 43 in such a way that the outline of the third area 43 is consistent with the boundary of the outer edge of the field 6 and the field 5.

[0161] With the structure described above, when viewed from above and without each of the first markers 51 extending beyond the outer edge of the first area 41, the frame 9 does not interfere with the outer edge 6 of the field. In particular, as... Figure 9 As shown, even if the combine harvester 1 approaches the outer edge 6 of the field, the machine frame 9 will not interfere with the outer edge 6 of the field if the first inner marker 51c does not extend beyond the outer side of the first area 41.

[0162] Furthermore, when viewed from above, and assuming that the second markers 52 do not extend beyond the outer edge of the second area 42, the harvesting section H does not interfere with the outer edge of the field 6. In particular, as... Figure 9 As shown, even if the combine harvester 1 approaches the outer edge 6 of the field, the harvesting section H will not interfere with the outer edge 6 of the field if the second inner marker 52c does not extend beyond the outer side of the second area 42.

[0163] Furthermore, when viewed from above, and provided that the third markers 53 do not extend beyond the outer edge of the third area 43, the driving device 11 does not interfere with the outer edge 6 of the field. In particular, as... Figure 9 As shown, even if the combine harvester 1 approaches the outer edge of the field 6, the driving device 11 will not interfere with the outer edge of the field 6 as long as the third inner marker 53c does not extend beyond the outer side of the third area 43.

[0164] That is, the body 10 does not interfere with the outer edge of the field 6 when each of the first markers 51 does not extend beyond the outer edge of the first area 41, each of the second markers 52 does not extend beyond the outer edge of the second area 42, and each of the third markers 53 does not extend beyond the outer edge of the third area 43.

[0165] In particular, when the first inner marker 51c does not extend beyond the outer edge of the first region 41, the second inner marker 52c does not extend beyond the outer edge of the second region 42, and the third inner marker 53c does not extend beyond the outer edge of the third region 43, the body 10 does not interfere with the outer edge of the field 6.

[0166] In addition, Figure 6 The pump position Q is shown. Pump position Q is the location where the water supply and drainage pump 62 is installed. In the outer edge 6 of the field, the part where the water supply and drainage pump 62 is located is at a higher height.

[0167] Therefore, as Figure 7As shown, the outlines of the first region 41 and the second region 42 are concave towards the inside of the field 5 at the pump position Q.

[0168] [Regarding driving control]

[0169] like Figure 5 As shown, a plurality of first tags 51, a plurality of second tags 52, and a plurality of third tags 53 stored in the tag storage unit 71 are sent from the tag management unit 70 to the automatic driving control unit 24.

[0170] In addition, the first region 41, the second region 42, and the third region 43 stored in the region storage unit 76 are sent from the region management unit 75 to the automatic driving control unit 24.

[0171] Furthermore, the driving control unit 29 in the automatic driving control unit 24 controls the driving of the combine harvester 1 based on a plurality of first markers 51, a plurality of second markers 52, a plurality of third markers 53, a first region 41, a second region 42, and a third region 43, so as to suppress each first marker 51 from going out of the first region 41, suppress each second marker 52 from going out of the second region 42, and suppress each third marker 53 from going out of the third region 43.

[0172] That is, the driving control unit 29 controls the driving of the combine harvester 1 to prevent the first marker 51 from going out of the first area 41 and to prevent the second marker 52 from going out of the second area 42.

[0173] The following describes the control of the combine harvester 1 by the travel control unit 29.

[0174] Whether the combine harvester 1 is traveling automatically or manually, the travel control unit 29 will adjust according to... Figure 10 The control program shown controls the movement of combine harvester 1.

[0175] Furthermore, the present invention is not limited thereto; the driving control unit 29 may also be configured to only control the combine harvester 1 when it is driving automatically, according to... Figure 10 The control program shown controls the movement of the combine harvester 1. Alternatively, the movement control unit 29 can be configured to control the movement of the combine harvester 1 only when it is being manually moved. Figure 10 The control program shown controls the movement of combine harvester 1.

[0176] The control program is stored in the driving control unit 29. The driving control unit 29 repeatedly executes the control program at regular intervals.

[0177] When the control program begins, step S01 is executed first. In step S01, the driving control unit 29 determines whether at least one of the following conditions is met: a first determination condition (equivalent to the "third condition" of the present invention), a second determination condition (equivalent to the "fourth condition" of the present invention), and a third determination condition.

[0178] The first determination condition is that at least a portion of the first inner marker 51c extends beyond the outer edge of the first region 41. Furthermore, the first determination condition can be satisfied not only when the first inner marker 51c actually extends beyond the outer edge of the first region 41, but also when the first inner marker 51c is about to extend beyond the outer edge of the first region 41. In this embodiment, the first determination condition is satisfied when the first inner marker 51c contacts the outer contour line of the first region 41.

[0179] Thus, the first determination condition is that the first inner marker 51c extends outward from the first region 41.

[0180] Here, the determination of whether the first inner marker 51c extends beyond the outer side of the first region 41 will be described in detail.

[0181] like Figure 5 As shown, the automatic driving control unit 24 includes a marker position calculation unit 35. The marker position calculation unit 35 calculates the current position of the first inner marker 51c based on the position coordinates of the combine harvester 1 received by the automatic driving control unit 24 from the vehicle position calculation unit 21 and the information representing the first inner marker 51c received by the automatic driving control unit 24 from the marker management unit 70.

[0182] At this time, the marker position calculation unit 35 calculates the current position of the first inner marker 51c based on the position coordinates of the combine harvester 1 and the relative position of the first inner marker 51c with respect to the machine body 10. Furthermore, the current position of the first inner marker 51c calculated at this time can be either its position coordinates within the field 5 or its relative position with respect to the first area 41.

[0183] The calculation result generated by the sign position calculation unit 35 is sent to the driving control unit 29. Furthermore, based on the information indicating the current position of the first inner sign 51c received from the sign position calculation unit 35 and the information indicating the first area 41 received by the automatic driving control unit 24 from the area management unit 75, the driving control unit 29 determines whether the first inner sign 51c has extended beyond the outside of the first area 41.

[0184] Furthermore, regarding the determination of whether the first inner marker 51c extends beyond the outer edge of the first region 41, the driving control unit 29 can perform the same determination as described above for whether each of the first markers 51 other than the first inner marker 51c extends beyond the outer edge of the first region 41. Similarly, the driving control unit 29 can perform the same determination as described above for whether each of the second markers 52 extends beyond the outer edge of the second region 42 and whether each of the third markers 53 extends beyond the outer edge of the third region 43.

[0185] The second determination condition is that at least a portion of the second inner marker 52c extends beyond the outer edge of the second region 42. Furthermore, the second determination condition can be satisfied not only when the second inner marker 52c actually extends beyond the outer edge of the second region 42, but also when the second inner marker 52c is about to extend beyond the outer edge of the second region 42. In this embodiment, the second determination condition is satisfied when the second inner marker 52c contacts the outer contour line of the second region 42.

[0186] Thus, the second determination condition is that the second inner marker 52c extends outward from the second region 42.

[0187] The third determination condition is that at least a portion of the third inner marker 53c extends beyond the outer edge of the third region 43. Furthermore, the third determination condition can be satisfied not only when the third inner marker 53c actually extends beyond the outer edge of the third region 43, but also at the moment when the third inner marker 53c is about to extend beyond the outer edge of the third region 43. In this embodiment, the third determination condition is satisfied when the third inner marker 53c contacts the outer contour line of the third region 43.

[0188] If at least one of the first, second, and third determination conditions is met, the result is determined as Yes in step S01, and the process proceeds to step S02. Conversely, if none of the first, second, and third determination conditions are met, the result is determined as No in step S01, and the process proceeds to step S03.

[0189] In step S02, a stop control (equivalent to the "second control" of the present invention) is executed by the travel control unit 29. The stop control is a control that stops the travel of the combine harvester 1. Then, the process is temporarily terminated.

[0190] In step S03, the driving control unit 29 determines whether at least one of the following conditions is met: the fourth condition (equivalent to the "fifth condition" of the present invention), the fifth condition (equivalent to the "sixth condition" of the present invention), and the sixth condition.

[0191] The fourth determination condition is that at least a portion of the first intermediate marker 51b extends beyond the outer edge of the first region 41. Furthermore, the fourth determination condition can be satisfied not only when the first intermediate marker 51b actually extends beyond the outer edge of the first region 41, but also when the first intermediate marker 51b is about to extend beyond the outer edge of the first region 41. In this embodiment, the fourth determination condition is satisfied when at least a portion of the first intermediate marker 51b actually extends beyond the outer edge of the first region 41.

[0192] Thus, the fourth determination condition is that the first intermediate identifier 51b extends beyond the outer side of the first region 41.

[0193] The fifth determination condition is that at least a portion of the second intermediate marker 52b extends beyond the outer edge of the second region 42. Furthermore, the fifth determination condition can be determined to be satisfied not only when the second intermediate marker 52b actually extends beyond the outer edge of the second region 42, but also when the second intermediate marker 52b is about to extend beyond the outer edge of the second region 42. In this embodiment, the fifth determination condition is satisfied when at least a portion of the second intermediate marker 52b actually extends beyond the outer edge of the second region 42.

[0194] Thus, the fifth determination condition is that the second intermediate identifier 52b extends beyond the outer edge of the second region 42.

[0195] The sixth determination condition is that at least a portion of the third intermediate marker 53b extends beyond the outer edge of the third region 43. Furthermore, the sixth determination condition can be satisfied not only when the third intermediate marker 53b actually extends beyond the outer edge of the third region 43, but also when the third intermediate marker 53b is about to extend beyond the outer edge of the third region 43. In this embodiment, the sixth determination condition is satisfied when at least a portion of the third intermediate marker 53b actually extends beyond the outer edge of the third region 43.

[0196] If at least one of the fourth, fifth, and sixth determination conditions is met, the result is determined as Yes in step S03, and the process proceeds to step S04. Conversely, if none of the fourth, fifth, and sixth determination conditions are met, the result is determined as No in step S03, and the process proceeds to step S05.

[0197] In step S04, direction change control (equivalent to the "third control" of the present invention) is performed by the travel control unit 29. Direction change control is the control that changes the travel direction of the combine harvester 1. Then, the process temporarily ends.

[0198] There are no particular limitations on the content of the direction change control. For example, it can be a control that changes the direction of travel of the combine harvester 1 by moving the combine harvester 1 away from the outer edge 6 of the field, or it can be a control that switches the forward and backward movement of the combine harvester 1.

[0199] In step S05, the driving control unit 29 determines whether at least one of the seventh determination condition (equivalent to the "first condition" of the present invention), the eighth determination condition (equivalent to the "second condition" of the present invention), and the ninth determination condition is met.

[0200] The seventh determination condition is that at least a portion of the first outer marker 51a extends beyond the outer edge of the first region 41. Furthermore, the seventh determination condition can be determined to be satisfied not only when the first outer marker 51a actually extends beyond the outer edge of the first region 41, but also when the first outer marker 51a is about to extend beyond the outer edge of the first region 41. In this embodiment, the seventh determination condition is satisfied when at least a portion of the first outer marker 51a actually extends beyond the outer edge of the first region 41.

[0201] Thus, the seventh determination condition is that the first outer marker 51a extends beyond the outer side of the first region 41.

[0202] The eighth determination condition is that at least a portion of the second outer marker 52a extends beyond the outer edge of the second region 42. Furthermore, the eighth determination condition can be determined to be satisfied not only when the second outer marker 52a actually extends beyond the outer edge of the second region 42, but also when the second outer marker 52a is about to extend beyond the outer edge of the second region 42. In this embodiment, the eighth determination condition is satisfied when at least a portion of the second outer marker 52a actually extends beyond the outer edge of the second region 42.

[0203] Thus, the eighth determination condition is that the second outer marker 52a extends beyond the outer side of the second region 42.

[0204] The ninth determination condition is that at least a portion of the third outer marker 53a extends beyond the outer edge of the third region 43. Furthermore, the ninth determination condition can be determined to be satisfied not only when the third outer marker 53a actually extends beyond the outer edge of the third region 43, but also when the third outer marker 53a is about to extend beyond the outer edge of the third region 43. In this embodiment, the ninth determination condition is satisfied when at least a portion of the third outer marker 53a actually extends beyond the outer edge of the third region 43.

[0205] If at least one of the seventh, eighth, and ninth determination conditions is met, the result is determined as Yes in step S05, and the process proceeds to step S06. Conversely, if none of the seventh, eighth, and ninth determination conditions are met, the result is determined as No in step S05, and the process temporarily ends.

[0206] In step S06, deceleration control (equivalent to the "first control" of the present invention) is performed by the driving control unit 29. The deceleration control reduces the speed of the combine harvester 1. Then, the process temporarily ends.

[0207] Based on the structure described above, the driving control unit 29 is configured to perform deceleration control when at least one of the seventh and eighth determination conditions is met. Furthermore, the driving control unit 29 is configured to perform a control different from deceleration control, namely, stop control, when at least one of the first and second determination conditions is met. Additionally, the driving control unit 29 is configured to perform a control different from both deceleration control and stop control, namely, direction change control, when at least one of the fourth and fifth determination conditions is met.

[0208] Furthermore, deceleration control reduces the speed of combine harvester 1. Stop control brings combine harvester 1 to a complete stop. Additionally, direction change control changes the direction of travel of combine harvester 1.

[0209] Furthermore, by means of deceleration control, stop control, and direction change control, the first markers 51 are prevented from extending outward to the outside of the first region 41, the second markers 52 are prevented from extending outward to the outside of the second region 42, and the third markers 53 are prevented from extending outward to the outside of the third region 43.

[0210] However, as Figure 10 As shown, the determination in step S03 is performed only if the determination in step S01 is No. Furthermore, the determination in step S05 is performed only if the determinations in both steps S01 and S03 are No.

[0211] Therefore, direction change control and deceleration control can be executed only when stop control is not activated. Conversely, deceleration control can be executed only when neither stop control nor direction change control is activated.

[0212] That is, stop control takes precedence over deceleration control and direction change control. Specifically, stop control takes precedence over deceleration control. Furthermore, direction change control takes precedence over deceleration control.

[0213] Here, we will illustrate the example based on Figure 10 The control program shown executes deceleration control and stop control.

[0214] exist Figure 11 The image shows a top-down view of a combine harvester 1 approaching the outer edge 6 of a field 5. Furthermore, in... Figure 11 The diagram of the combine harvester 1 is omitted. Furthermore, for ease of understanding in this example, the third region 43 and each of the third markers 53 are omitted. Additionally, the first intermediate marker 51b and the second intermediate marker 52b are also omitted.

[0215] exist Figure 11 In the example shown, the combine harvester 1 is initially located at the first position P1. At this time, the first outer marker 51a does not extend beyond the outer edge of the first region 41, but the second outer marker 52a extends beyond the outer edge of the second region 42. That is, although the seventh determination condition mentioned above is not met, the eighth determination condition is met. In addition, at this time, the first inner marker 51c does not extend beyond the outer edge of the first region 41, and the second inner marker 52c does not extend beyond the outer edge of the second region 42.

[0216] Therefore, in Figure 10 If the determination in step S05 of the control procedure shown is Yes, then deceleration control is performed by the driving control unit 29.

[0217] Next, the combine harvester 1 reaches the second position P2. At this time, the second outer marker 52a extends outward from the second region 42. That is, the eighth determination condition described above is satisfied. Additionally, at this time, the first outer marker 51a extends outward from the first region 41. That is, the seventh determination condition described above is satisfied. Furthermore, at this time, the first inner marker 51c does not extend outward from the first region 41, and the second inner marker 52c does not extend outward from the second region 42.

[0218] At this time, the control performed by the driving control unit 29 remains unchanged. That is, the deceleration control that is already in progress continues.

[0219] Thus, the driving control unit 29 is configured so that the content of the driving control of the combine harvester 1 does not change according to the state that only one of the seventh and eighth determination conditions is satisfied, or the state that both the seventh and eighth determination conditions are satisfied.

[0220] Similarly, the driving control unit 29 is configured so that the content of the driving control of the combine harvester 1 does not change according to the state of satisfying only one of the first determination condition and the second determination condition, or the state of satisfying both the first determination condition and the second determination condition.

[0221] In addition, although Figure 11The details are omitted, but this also applies to the first intermediate identifier 51b and the second intermediate identifier 52b. That is, the driving control unit 29 is configured so that the content of the driving control of the combine harvester 1 does not change according to the state that only one of the fourth and fifth determination conditions is satisfied, or the state that both the fourth and fifth determination conditions are satisfied.

[0222] Furthermore, this applies to the seventh, eighth, and ninth determination conditions as well. That is, the driving control unit 29 is configured to prevent the control content for the combine harvester 1 from changing from a state where only one of the seventh, eighth, or ninth determination conditions is met to a state where two of them are met, or a state where all three are met. Furthermore, the driving control unit 29 is configured to prevent the control content for the combine harvester 1 from changing from a state where two of the seventh, eighth, or ninth determination conditions are met to a state where all three are met.

[0223] This also applies to the first, second, and third judgment conditions. Furthermore, the same applies to the fourth, fifth, and sixth judgment conditions.

[0224] Next, the combine harvester 1 reaches the third position P3. At this time, the second inner marker 52c is located inside the second region 42, but the first inner marker 51c is in contact with the outer line of the first region 41.

[0225] Therefore, in Figure 10 If the control procedure shown determines "Yes" in step S01, the driving control unit 29 executes stop control. As a result, the combine harvester 1 stops at the third position P3.

[0226] Furthermore, the control performed by the driving control unit 29 described above is performed not only during the forward movement of the combine harvester 1 but also during the reverse movement. That is, regardless of whether the combine harvester 1 is moving forward or backward, the driving control unit 29 controls the movement of the combine harvester 1 to prevent each of the first markers 51 from extending beyond the outer edge of the first region 41, and to prevent each of the second markers 52 from extending beyond the outer edge of the second region 42, and to prevent each of the third markers 53 from extending beyond the outer edge of the third region 43.

[0227] Thus, regardless of whether the combine harvester 1 is moving forward or backward, the driving control unit 29 controls the movement of the combine harvester 1 to prevent the first marker 51 from going out of the first area 41 and to prevent the second marker 52 from going out of the second area 42.

[0228] [Regarding the Change Department]

[0229] like Figure 5 As shown, the combine harvester 1 includes a vehicle speed detection unit 19. Furthermore, the vehicle speed detection unit 19 may also be included in the operating system SY.

[0230] The vehicle speed detection unit 19 is a sensor that detects the driving speed of the traveling device 11. The vehicle speed detection unit 19 detects the speed of the combine harvester 1 by detecting the driving speed of the traveling device 11.

[0231] In addition, the marker management unit 70 has a modification unit 73. The modification unit 73 acquires the detection results generated by the vehicle speed detection unit 19. Moreover, the modification unit 73 changes the size of the first outer marker 51a, the first middle marker 51b, the second outer marker 52a, the second middle marker 52b, the third outer marker 53a, and the third middle marker 53b according to the speed of the combine harvester 1.

[0232] More specifically, the lower the speed of the combine harvester 1, the smaller the first outer marker 51a, the first middle marker 51b, the second outer marker 52a, the second middle marker 52b, the third outer marker 53a, and the third middle marker 53b become.

[0233] That is, the operating system SY has a modification unit 73, which changes the size of the first marker 51 and the second marker 52 according to the speed of the combine harvester 1.

[0234] Furthermore, the modification unit 73 is configured to not change the size of the first inner marker 51c, the second inner marker 52c, and the third inner marker 53c. That is, in this embodiment, the size of the first inner marker 51c, the second inner marker 52c, and the third inner marker 53c is constant regardless of the speed of the combine harvester 1.

[0235] However, the present invention is not limited thereto, and the modification unit 73 may also be configured to change the size of the first inner marker 51c, the second inner marker 52c, and the third inner marker 53c according to the speed of the combine harvester 1.

[0236] Here, we will illustrate the case of changing the size of the second outer marker 52a and the second middle marker 52b.

[0237] exist Figure 12 The example shown is a top view of a combine harvester 1 approaching the outer edge 6 of a field 5. Furthermore, for ease of understanding, the first region 41, the third region 43, each first marker 51, and each third marker 53 are omitted in this example.

[0238] exist Figure 12In the example shown, the combine harvester 1 is initially in position four, P4. At this time, the second outer marker 52a is located inside the second region 42. Therefore, stop control, direction change control, and deceleration control are not executed at this time.

[0239] Furthermore, at this time, the distance between the front end of the body 10 and the front end of the second outer marker 52a is the first distance D1. Additionally, the distance between the front end of the body 10 and the front end of the second intermediate marker 52b is the second distance D2.

[0240] Next, the combine harvester 1 reaches the fifth position P5. At this time, the second outer marker 52a extends outward from the second region 42. Meanwhile, the second middle marker 52b and the second inner marker 52c are both located inside the second region 42. Therefore, at this time, deceleration control is performed by the driving control unit 29.

[0241] Through this deceleration control, the speed of the combine harvester 1 is reduced. Accordingly, the size of the second outer marker 52a and the second intermediate marker 52b is reduced by the modification unit 73. As a result, the distance between the front end of the machine body 10 and the front end of the second outer marker 52a becomes a third distance D3. In addition, the distance between the front end of the machine body 10 and the front end of the second intermediate marker 52b becomes a fourth distance D4.

[0242] Furthermore, the third distance D3 is shorter than the first distance D1. Additionally, the fourth distance D4 is shorter than the second distance D2.

[0243] Next, the combine harvester 1 reaches the sixth position P6. During this period, while the combine harvester 1 moves from the fifth position P5 to the sixth position P6, deceleration control performed by the travel control unit 29 continues. Therefore, the speed of the combine harvester 1 at the moment it reaches the sixth position P6 is lower than its speed when it is in the fifth position P5.

[0244] Therefore, at this time, the sizes of the second outer marker 52a and the second intermediate marker 52b are further reduced. Specifically, the distance between the front end of the body 10 and the front end of the second outer marker 52a becomes the fifth distance D5. In addition, the distance between the front end of the body 10 and the front end of the second intermediate marker 52b becomes the sixth distance D6.

[0245] Furthermore, the fifth distance, D5, is shorter than the third distance, D3. Additionally, the sixth distance, D6, is shorter than the fourth distance, D4.

[0246] Furthermore, at this time, the second intermediate marker 52b extends outward from the second region 42. Additionally, at this time, the second inner marker 52c is located inside the second region 42. Therefore, at this time, direction change control is performed by the driving control unit 29.

[0247] However, in this example, due to the inclination of field 5, although the direction of travel of combine harvester 1 does not actually change, its speed gradually decreases. Therefore, combine harvester 1 passes through the sixth position P6, in which it continues to travel straight while decelerating.

[0248] Next, combine harvester 1 reaches position seven, P7. The speed of combine harvester 1 at position seven, P7, is lower than the speed of combine harvester 1 when it is in position six, P6.

[0249] Therefore, at this time, the sizes of the second outer marker 52a and the second intermediate marker 52b are further reduced. Specifically, the distance between the front end of the body 10 and the front end of the second outer marker 52a becomes the seventh distance D7. In addition, the distance between the front end of the body 10 and the front end of the second intermediate marker 52b becomes the eighth distance D8.

[0250] Furthermore, the seventh distance, D7, is shorter than the fifth distance, D5. Additionally, the eighth distance, D8, is shorter than the sixth distance, D6.

[0251] Furthermore, at this time, the second inner marker 52c comes into contact with the outer line of the second region 42. Therefore, the driving control unit 29 performs stop control. As a result, the combine harvester 1 stops at the seventh position P7.

[0252] [Regarding path generation]

[0253] like Figure 5 As shown, the automatic driving control unit 24 includes a second path generation unit 28. The second path generation unit 28 is configured to generate a target driving path TL (see reference 51c) for the second operation driving based on the first inner marker 51c, the second inner marker 52c, the third inner marker 53c, the first region 41, the second region 42, and the third region 43. Figure 13 and Figure 15 Furthermore, the target driving path TL is a different path from the aforementioned cut-out driving path LI.

[0254] As described above, in this embodiment, the second operation is performed by automatic driving. That is, the second path generation unit 28 generates a target driving path TL for the automatic driving of the combine harvester 1.

[0255] Thus, the operating system SY has a second path generation unit 28, which generates a target travel path TL for the automatic travel of the combine harvester 1.

[0256] When the combine harvester 1 is automatically traveling along the target travel path TL, the second path generation unit 28 generates the target travel path TL, such that the first inner marker 51c does not extend beyond the outer side of the first region 41, the second inner marker 52c does not extend beyond the outer side of the second region 42, and the third inner marker 53c does not extend beyond the outer side of the third region 43.

[0257] That is, when the combine harvester 1 is automatically traveling along the target travel path TL, the second path generation unit 28 generates the target travel path TL, so that the first inner marker 51c does not extend beyond the outside of the first region 41, and the second inner marker 52c does not extend beyond the outside of the second region 42.

[0258] The following is a detailed description of the generation of the target driving path TL performed by the second path generation unit 28.

[0259] In this embodiment, the second path generation unit 28 generates a target travel path TL when the combine harvester 1 changes direction during harvesting and when the combine harvester 1 moves toward a predetermined location for discharge operations. Furthermore, the discharge operation is the operation of discharging grains stored in the grain bin 14 using the grain discharge device 18.

[0260] The second path generation unit 28 first generates a target travel path TL that allows the combine harvester 1 to move along the shortest distance. Then, before the combine harvester 1 actually travels along the target travel path TL, the second path generation unit 28 determines whether the target travel path TL is appropriate.

[0261] At this time, when the combine harvester 1 is automatically traveling along the target travel path TL, the second path generation unit 28 determines whether the first inner marker 51c has not moved outward from the first area 41, whether the second inner marker 52c has not moved outward from the second area 42, and whether the third inner marker 53c has not moved outward from the third area 43.

[0262] When the combine harvester 1 is automatically traveling along the target travel path TL, if it is determined that the first inner marker 51c has not extended beyond the outer edge of the first region 41, the second inner marker 52c has not extended beyond the outer edge of the second region 42, and the third inner marker 53c has not extended beyond the outer edge of the third region 43, then the second path generation unit 28 determines that the target travel path TL is appropriate. Furthermore, if... Figure 5 As shown, the target driving path TL is sent to the driving control unit 29.

[0263] On the other hand, when the combine harvester 1 is automatically traveling along the target travel path TL, it is determined that the first inner marker 51c has crossed outwards from the first area 41. In this case, the second path generation unit 28 determines that the target travel path TL is inappropriate. Furthermore, when the combine harvester 1 is automatically traveling along the target travel path TL, it is determined that the second inner marker 52c has crossed outwards from the second area 42, and when the combine harvester 1 is automatically traveling along the target travel path TL, it is determined that the third inner marker 53c has crossed outwards from the third area 43. In both cases, the second path generation unit 28 determines that the target travel path TL is inappropriate.

[0264] If the generated target driving path TL is determined to be inappropriate, the second path generation unit 28 generates a new target driving path TL. Then, the generation of a new target driving path TL and the determination of whether the target driving path TL is appropriate are repeated until the generated target driving path TL is determined to be appropriate. Then, the appropriate target driving path TL is sent to the driving control unit 29.

[0265] The driving control unit 29 controls the automatic driving of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the target driving path TL received from the second path generation unit 28. More specifically, the driving control unit 29 controls the driving of the combine harvester 1 to perform automatic driving along the target driving path TL.

[0266] exist Figure 13 and Figure 14 In this example, when the combine harvester 1 changes direction during its harvesting journey, the second path generation unit 28 generates a target travel path TL. In this example, the combine harvester 1 automatically travels along a first harvesting path LI1, which is the harvesting travel path LI. Furthermore, as the continuing harvesting travel path LI, a second harvesting path LI2 is selected by the path selection unit 27.

[0267] The first harvesting path LI1 and the second harvesting path LI2 are orthogonal. Therefore, the combine harvester 1 needs to make a 90° directional change.

[0268] In this example, the second path generation unit 28 first generates a first target path TL1, which serves as the target driving path TL. For example... Figure 13 As shown, the first target path TL1 consists of the first path t1, the second path t2, and the third path t3.

[0269] The first path t1 is used to move forward while turning to the left of the aircraft. The second path t2 is used to move backward while turning to the right of the aircraft. The third path t3 is used to move forward.

[0270] When the combine harvester 1 is automatically traveling along the first target path TL1, the combine harvester 1 travels in the order of the first path t1, the second path t2, and the third path t3.

[0271] Here, in this example, such as Figure 14 As shown, when the combine harvester 1 is automatically traveling along the first path t1, the second inner marker 52c extends beyond the second region 42. Therefore, the second path generation unit 28 determines that the first target path TL1 is inappropriate. Then, as... Figure 15 As shown, the second path generation unit 28 generates a second target path TL2 as a new target driving path TL.

[0272] Then, in this example, such as Figure 16 As shown, when the combine harvester 1 is automatically traveling along the second target path TL2, the first inner marker 51c does not extend beyond the outer edge of the first region 41, the second inner marker 52c does not extend beyond the outer edge of the second region 42, and the third inner marker 53c does not extend beyond the outer edge of the third region 43. Therefore, the second path generation unit 28 determines that the second target path TL2 is appropriate.

[0273] Then, the second path generation unit 28 sends the second target path TL2 to the driving control unit 29. The driving control unit 29 controls the driving of the combine harvester 1 to perform automatic driving along the second target path TL2.

[0274] In addition, such as Figure 13 and Figure 15 As shown, the number of forward and backward movements during automatic driving along the second target path TL2 is greater than the number of forward and backward movements during automatic driving along the first target path TL1. Furthermore, the distance traveled during automatic driving along the second target path TL2 is greater than the distance traveled during automatic driving along the first target path TL1.

[0275] In addition, such as Figure 15 As shown, the second target path TL2 includes a portion for the combine harvester 1 to reverse. Thus, the second path generation unit 28 can generate a target travel path TL that includes the portion for the combine harvester 1 to reverse.

[0276] In addition, Figure 17 and Figure 18 The example shown is when the combine harvester 1 moves toward the predetermined location, namely the discharge location DP, where the discharge operation is to be carried out, and the second path generation unit 28 generates a target travel path TL.

[0277] In this example, the transport vehicle CV stops near the discharge point DP in the outer edge of the field 6. The transport vehicle CV is able to collect and transport the grains discharged from the grain discharge device 18 by the combine harvester 1.

[0278] In addition, in this example, after the combine harvester 1 performs a cutting drive (intermediate splitting drive) by passing through the central part of the target area CA, it moves to the discharge point DP without passing through the unharvested area.

[0279] In this example, the second path generation unit 28 first generates a third target path TL3 as the target driving path TL. For example... Figure 17 As shown, the third target path TL3 includes three turning sections that make a 90° left turn. Moreover, when the combine harvester 1 passes through the first turning section, the combine harvester 1 passes near the side portion 61a in the outer edge of the field 6.

[0280] Then, in this example, such as Figure 18 As shown, when the combine harvester 1 is automatically traveling along the third target path TL3, the first inner marker 51c does not extend beyond the outer edge of the first region 41, the second inner marker 52c does not extend beyond the outer edge of the second region 42, and the third inner marker 53c does not extend beyond the outer edge of the third region 43. Therefore, the second path generation unit 28 determines that the third target path TL3 is appropriate.

[0281] Then, the second path generation unit 28 sends the third target path TL3 to the driving control unit 29. The driving control unit 29 controls the driving of the combine harvester 1 to perform automatic driving along the third target path TL3.

[0282] In the structure described above, two virtual markers, a first marker 51 and a second marker 52, are set. Furthermore, the driving control unit 29 controls the driving of the combine harvester 1 to prevent the first marker 51 from going out of the first area 41 and to prevent the second marker 52 from going out of the second area 42.

[0283] Thus, the first marker 51 is allowed to extend beyond the outer edge of the second region 42, and the second marker 52 is allowed to extend beyond the outer edge of the first region 41. Therefore, by appropriately setting the first marker 51 and the second marker 52 according to the three-dimensional shape of the combine harvester 1, and by setting two regions corresponding to these markers, the operating efficiency of the combine harvester 1 is not easily reduced.

[0284] For example, in the structure described above, the portion of the combine harvester 1 body 10 corresponding to the second marker 52 is allowed to extend outwards from the first region 41. Therefore, compared to a structure that controls the movement of the combine harvester 1 by suppressing the portion of the combine harvester 1 body 10 corresponding to the second marker 52 from extending outwards from the first region 41, it is less likely to cause unnecessary suppression of the movement of the combine harvester 1. Therefore, the efficiency of the combine harvester 1's movement is less likely to decrease.

[0285] Thus, in the structure described above, it is less likely to cause unnecessary disruption to the movement of the combine harvester 1. As a result, an operating system SY can be achieved where the operating efficiency of the combine harvester 1 is not easily reduced.

[0286] [Other implementation methods]

[0287] (1) The driving device 11 can be wheeled or half-tracked.

[0288] (2) In the above embodiment, the cutting travel path LI generated by the first path generation unit 23 is a plurality of grid lines extending in the longitudinal and transverse directions. However, the present invention is not limited to this, and the cutting travel path LI generated by the first path generation unit 23 may not be a plurality of grid lines extending in the longitudinal and transverse directions. For example, the cutting travel path LI generated by the first path generation unit 23 may also be a spiral travel path. In addition, the cutting travel path LI may not be orthogonal to other cutting travel paths LI. Furthermore, the cutting travel path LI generated by the first path generation unit 23 may also be a plurality of parallel lines.

[0289] (3) Some or all of the following units may be located outside the combine harvester 1: the vehicle position calculation unit 21, the work area calculation unit 22, the first path generation unit 23, the automatic driving control unit 24, the map generation unit 25, the path selection unit 27, the second path generation unit 28, the driving control unit 29, the machine information storage unit 33, the marker position calculation unit 35, the marker management unit 70, the marker storage unit 71, the marker setting unit 72, the modification unit 73, the area management unit 75, the area storage unit 76, and the area setting unit 77. For example, they may be located in management facilities or management servers located outside the combine harvester 1.

[0290] (4) The combine harvester 1 can also be configured to not drive automatically.

[0291] (5) In the above embodiment, the work area calculation unit 22 calculates the area where the combine harvester 1 performs its first work trip as the outer perimeter area SA. However, the present invention is not limited thereto. The outer perimeter area SA may also be determined before the combine harvester 1 performs its first work trip.

[0292] (6) Each first identifier 51 may not be a box shape. For example, each first identifier 51 may be one or more points, or a straight line or curve connecting two points, or a combination of multiple straight lines or curves.

[0293] (7) Each second identifier 52 may not be a box shape. For example, each second identifier 52 may be one or more points, or a straight line or curve connecting two points, or a combination of multiple straight lines or curves.

[0294] (8) Each third identifier 53 may not be a box shape. For example, each third identifier 53 may be one or more points, or a straight line or curve connecting two points, or a combination of multiple straight lines or curves.

[0295] (9) In the above embodiments, there are three types of identifiers: a first identifier 51, a second identifier 52, and a third identifier 53. However, the present invention is not limited to this; there may be two or more identifiers.

[0296] (10) The second part 10b may include a threshing device 13 or a grain bin 14.

[0297] (11) The first part 10a can also be any part of the body 10 other than the body frame 9.

[0298] (12) The second part 10b can also be any part of the machine body 10 other than the harvesting part H. For example, the second part 10b can also be the threshing device 13. In this case, the threshing device 13 is equivalent to the "working device" of the present invention. Alternatively, the second part 10b can also be the grain bin 14. In this case, the grain bin 14 is equivalent to the "working device" of the present invention.

[0299] (13) In the above embodiment, the identifier setting unit 72 sets each first identifier 51, each second identifier 52, and each third identifier 53 based on the information stored in the machine information storage unit 33. However, the present invention is not limited to this, and the identifier setting unit 72 may also be configured to set each first identifier 51, each second identifier 52, and each third identifier 53 based on information input by human operation.

[0300] (14) In the above embodiment, the outline of the third region 43 is set to coincide with the boundary of the outer edge of the field 6 and the field 5. However, the present invention is not limited to this, and the outline of the third region 43 may also be set at a position separated by a predetermined distance from the boundary of the outer edge of the field 6 and the field 5 towards the inward side of the field 5. In addition, the user of the operating system SY may arbitrarily set this predetermined distance. Furthermore, the user may also choose to set the position of the outline of the third region 43 to coincide with the boundary of the outer edge of the field 6 and the field 5, or to a position separated by a predetermined distance from the boundary of the outer edge of the field 6 and the field 5 towards the inward side of the field 5.

[0301] Similarly, the outline of the first region 41 can also be set at a position that is a predetermined distance away from the position described in the above embodiment and extends inwards from the field 5. Furthermore, the user of the operating system SY can arbitrarily set this predetermined distance. Additionally, the user can choose to set the position of the outline of the first region 41 at the position described in the above embodiment, or at a position that is a predetermined distance away from the position described in the above embodiment and extends inwards from the field 5.

[0302] Similarly, the outline of the second region 42 can also be set at a position that is a predetermined distance away from the position described in the above embodiment and extends inward from the field 5. Furthermore, the user of the operating system SY can arbitrarily set this predetermined distance. Additionally, the user can choose to set the position of the outline of the second region 42 at the position described in the above embodiment, or at a position that is a predetermined distance away from the position described in the above embodiment and extends inward from the field 5.

[0303] (15) In the above embodiment, there are three first identifiers 51: a first outer identifier 51a, a first middle identifier 51b, and a first inner identifier 51c. However, the present invention is not limited to this, and the number of first identifiers 51 can be one or two, or four or more.

[0304] Similarly, the number of second identifiers 52 can be one, two, or more than four. Additionally, the number of third identifiers 53 can be one, two, or more than four.

[0305] (16) In the above embodiment, a plurality of first identifiers 51, a plurality of second identifiers 52, and a plurality of third identifiers 53 are all stored in the identifier storage unit 71. However, the present invention is not limited thereto, and the components and functional units storing the plurality of first identifiers 51, the components and functional units storing the plurality of second identifiers 52, and the components and functional units storing the plurality of third identifiers 53 may be different from each other. In this case, the components and functional units storing the plurality of first identifiers 51 are equivalent to the "first storage unit" of the present invention. In addition, the components and functional units storing the plurality of second identifiers 52 are equivalent to the "second storage unit" of the present invention.

[0306] (17) In the above embodiment, the first region 41, the second region 42, and the third region 43 are all stored in the region storage unit 76. However, the present invention is not limited thereto, and the components and functional units storing the first region 41, the second region 42, and the third region 43 may be different from each other. In this case, the components and functional units storing the first region 41 are equivalent to the "third storage unit" of the present invention. In addition, the components and functional units storing the second region 42 are equivalent to the "fourth storage unit" of the present invention.

[0307] (18) Alternatively, a map acquisition unit may be provided instead of the map generation unit 25, which acquires the outer edge map generated outside the combine harvester 1. In this case, the map acquisition unit is equivalent to the "acquisition unit" of the present invention.

[0308] Furthermore, the structures disclosed in the above-described embodiments (including other embodiments, the same below) can be combined with structures disclosed in other embodiments as long as they do not create contradictions. 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.

[0309] Industrial availability

[0310] This invention can be used not only for full-feed combine harvesters, but also for various operating vehicles such as semi-feed combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, carrot harvesters, and construction machinery.

[0311] Explanation of reference numerals in the attached figures

[0312] 1. Combine harvester (operating vehicle)

[0313] 5. Fields

[0314] 6. Outer edge of the field

[0315] 9. Airframe

[0316] 10. Body

[0317] 10a Part 1

[0318] 10b Part Two

[0319] 25. Map Generation Department (Acquisition Department)

[0320] 29. Driving Control Department

[0321] 41 First District

[0322] 42 Second Region

[0323] 51 First Identifier

[0324] 51a First outer marker

[0325] 51b First Intermediate Identifier

[0326] 51c First Inner Marker

[0327] 52 Second Identifier

[0328] 52a Second outer marker

[0329] 52b Second Intermediate Identifier

[0330] 52c Second inner side marker

[0331] 71. Identifier storage unit (first storage unit, second storage unit)

[0332] 72 Identifier Setting Unit

[0333] 73. Change Department

[0334] 76. Regional Storage Division (Third Storage Division, Fourth Storage Division)

[0335] 77 Area Setting Department

[0336] H Harvesting Unit (Operating Device)

[0337] HA Reference Height (Specified Height)

[0338] SY Operating System (Driving Management System)

Claims

1. A driving management system, comprising a driving control unit for controlling the driving of operating vehicles, wherein, The driving management system includes: The first storage unit stores a virtual first identifier that is set with respect to the relative position of the working vehicle's body; The second storage unit stores a virtual second identifier that is configured with a relative position to the body; The third storage unit stores the first area, which is located around the outer edge of the field and the boundary of the field, which is set in a manner that surrounds the field. The fourth storage unit, whose storage is located in the second region surrounding the boundary, The driving control unit controls the movement of the work vehicle to prevent the first marker from extending beyond the first area and to prevent the second marker from extending beyond the second area. The first storage unit stores a plurality of the first identifiers. The plurality of the first identifiers includes a first inner identifier and a first outer identifier located outside the first inner identifier. The second storage unit stores a plurality of the second identifiers. The plurality of second identifiers includes a second inner identifier and a second outer identifier located outside the second inner identifier. The driving control unit is configured to perform first control when at least one of the first condition and the second condition is met. The first condition is that the first outer marker extends beyond the outer edge of the first region. The second condition is that the second outer marker extends beyond the outer edge of the second region. The driving control unit is configured to perform a second control, which is different from the first control, when at least one of the third and fourth conditions is met. The third condition is that the first inner marker extends beyond the outer edge of the first region. The fourth condition is that the second inner marker extends beyond the outer edge of the second region. The second control is executed before the first control.

2. The driving management system according to claim 1, wherein, The first marker corresponds to the top view shape of the first part of the body. The second marker corresponds to the top view shape of the second part of the machine body. The first part and the second part are located at different heights.

3. The driving management system according to claim 2, wherein, The first part is the frame. The second part is a working device supported on the machine frame.

4. The driving management system according to claim 3, wherein, The working device is configured to be height-adjustable relative to the machine frame. The second marker corresponds to the top view of the working device when it is raised to a specified height.

5. The driving management system according to claim 3 or 4, wherein, It includes an identifier setting unit that sets the second identifier based on the shape of the working device.

6. The driving management system according to any one of claims 2 to 4, wherein, have: The acquisition unit acquires information about the outer edge of the field, which represents the position and height of the outer edge of the field. The region setting unit sets the first region and the second region based on the height position of the first part, the height position of the second part, and the information of the outer edge.

7. The driving management system according to any one of claims 1 to 4, wherein, The driving control unit is configured to prevent the content of the driving control of the work vehicle from changing according to a state that satisfies only one of the first condition and the second condition, or a state that satisfies both the first condition and the second condition. The driving control unit is configured to prevent the driving of the work vehicle from changing depending on whether the state satisfies only one of the third and fourth conditions or both of the third and fourth conditions.

8. The driving management system according to any one of claims 1 to 4, wherein, The plurality of first markers includes a first intermediate marker located outside the first inner marker and inside the first outer marker. The plurality of second markers includes a second intermediate marker located outside the second inner marker and inside the second outer marker. The driving control unit is configured to execute a third control, which is different from both the first and second controls, when at least one of the fifth and sixth conditions is met. The fifth condition is that the first intermediate marker extends beyond the outer edge of the first region. The sixth condition is that the second intermediate marker extends beyond the outer edge of the second region. The second control is executed with priority over the first and third controls. The third control is executed with priority over the first control. The first control is to reduce the speed of the operating vehicle. The second control is the control that stops the operation of the vehicle. The third control is the control that changes the direction of travel of the work vehicle.

9. The driving management system according to any one of claims 1 to 4, wherein, Both the first and second markers are frame-shaped. The driving management system has a modification unit that changes the size of the first indicator and the second indicator according to the speed of the operating vehicle.

10. The driving management system according to any one of claims 1 to 4, wherein, The driving control unit controls the driving of the work vehicle so that, whether the work vehicle is moving forward or backward, it prevents the first marker from going out of the first area and the second marker from going out of the second area.

Images