Agricultural machinery, agricultural machinery control program, recording medium containing agricultural machinery control program, agricultural machinery control method

Abstract

The agricultural machine includes: a detection unit (30) that detects the portion of the outer edge (6) of the field (5) that is positioned in a state surrounding the field (5) and located in front of the machine body (1) in the direction of travel, and detects the state of the outer edge (6) of the field while traveling in the field; and a parameter adjustment unit that adjusts the control parameters that determine the state of the machine body (1) based on the detection results of the detection unit (30).

Description

Technical Field

[0001] This invention relates to agricultural machinery that operates in fields. Background Technology

[0002] As an example of such an agricultural machine, there is an agricultural machine described in Patent Document 1. This agricultural machine (the "combiner" in Patent Document 1) has a harvesting section (the "cutting section" in Patent Document 1). The harvesting section is configured to be able to rise and fall relative to the machine body.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-35017 Summary of the Invention

[0006] The problem that the invention will solve

[0007] Generally, the outer edge of a field, which surrounds the field, includes ridges, water supply and drainage pumps, etc. Furthermore, when the harvester changes direction at a corner of the field, the harvesting section advances to a position where it overlaps with the outer edge of the field when viewed from above, and then turns back, facilitating efficient direction changes. However, when the harvesting section overlaps with the outer edge of the field when viewed from above, it is necessary to avoid the harvesting section interfering with the portion of the outer edge of the field that is in front of the machine's direction of travel.

[0008] Here, Patent Document 1 does not describe controlling the raising and lowering of the harvesting section based on the state of the part located in front of the machine's direction of travel at the outer edge of the field.

[0009] Thus, previously, there was no consideration of controlling the machine based on the state of the part located in front of the machine's direction of travel at the outer edge of the field.

[0010] The purpose of this invention is to provide an agricultural machine that can control the machine body according to the state of the portion of the outer edge of the field located in front of the machine body in the direction of travel.

[0011] Methods for solving problems

[0012] The present invention is characterized by comprising: a detection unit that detects the portion of the outer edge of the field, which is arranged in a manner surrounding the field and located in front of the machine in the direction of travel, as the detection object, and detects the state of the outer edge of the field while traveling in the field; and a parameter adjustment unit that adjusts control parameters that determine the state of the machine based on the detection results of the detection unit.

[0013] According to the present invention, control parameters are adjusted based on the state of the portion of the outer edge of the field located in front of the machine body in the direction of travel. Thus, the machine body is controlled based on the state of the portion of the outer edge of the field located in front of the machine body in the direction of travel. Therefore, according to the present invention, an agricultural machine capable of controlling its body based on the state of the portion of the outer edge of the field located in front of the machine body in the direction of travel can be realized.

[0014] Furthermore, in this invention, it is preferred that the detection unit includes: a detection device that detects the position and height of objects present in the area in front of the machine's direction of travel, i.e., the area in front, while the machine is traveling in the field; and a photographing device that photographs the area in front while the machine is traveling in the field, wherein the detection unit detects the state of the outer edge of the field based on the detection results of the detection device and the photographing results of the photographing device.

[0015] Based on this configuration, by combining the detection results of the combined detection device with the imaging results of the imaging device, the detection accuracy of the condition of the outer edge of the field can be easily improved. As a result, it is easy to perform good control of the organism based on the condition of the outer edge of the field.

[0016] Furthermore, in this invention, it is preferable to include an unconfirmed area determination unit, which determines, based on the detection result of the detection unit, an unconfirmed area in the outer edge of the field where the detection unit's state detection is incomplete, i.e., an unconfirmed area, and the parameter adjustment unit adjusts the control parameters based on the unconfirmed area.

[0017] Based on this configuration, it is easier to control the organism effectively compared to adjusting control parameters regardless of the presence or absence of unidentified regions.

[0018] For example, a configuration that controls the agricultural machinery's speed to be relatively high when traveling relatively far from an unidentified area and relatively low when traveling relatively close to an unidentified area is more efficient at operating the machinery when traveling far from the unidentified area, compared to a configuration that controls the speed relatively low regardless of the presence of an unidentified area. Furthermore, compared to a configuration that controls the speed relatively high regardless of the presence of an unidentified area, it is easier to stop the machinery immediately if obstacles are present in the unidentified area. Thus, based on the above configuration, it is easier to control the machinery effectively.

[0019] Furthermore, in this invention, it is preferable to include a map generation unit that generates an outer edge map representing the distribution of the state of the outer edge of the field based on the detection results of the detection unit.

[0020] Based on this configuration, the machine can be controlled based on the map of the outer edge. As a result, the machine can be controlled not only based on the portion of the outer edge of the field that is in front of the machine's direction of travel, but also based on the state of the remaining portions. Therefore, it is easy to control the machine well when changing direction or moving backward.

[0021] Furthermore, in this invention, it is preferable that the field is configured to perform work travel in the field through a first work travel and a second work travel, wherein the first work travel is work travel performed in the outer perimeter area of ​​the field, and the second work travel is work travel performed in the work target area inside the outer perimeter area after the first work travel, and the path generation unit generates a target travel path for the second work travel based on the outer edge map.

[0022] Based on this configuration, a target travel path for the second operation is generated based on the outer edge map, thus easily improving the efficiency of the second operation. For example, if the target travel path includes a path that serves as the target for the agricultural machinery to change direction near the outer edge of the field, this travel path is generated based on the outer edge map, making direction changes easy and efficient. As a result, the efficiency of the second operation is easily improved.

[0023] Furthermore, in this invention, it is preferable to include a harvesting section configured to be raised and lowered to harvest crops from the field, wherein the parameter adjustment section adjusts the harvesting height parameter, which is the control parameter for determining the height of the harvesting section, based on the detection result of the detection section.

[0024] According to this configuration, it is possible to control the raising and lowering of the harvest section based on the state of the outer edge of the field so that the harvest section does not interfere with the configuration of the outer edge of the field.

[0025] Furthermore, in this invention, it is preferable that the parameter adjustment unit adjusts the vehicle speed parameter, which is the control parameter for determining the vehicle speed, based on the detection result of the detection unit.

[0026] This configuration enables the control of vehicle speed based on the state of the outer edge of the field. Therefore, compared to configurations that control speed regardless of the state of the outer edge of the field, this design allows for efficient field operation of an agricultural machine while avoiding interference with the outer edge of the field.

[0027] Furthermore, in this invention, it is preferable that the parameter adjustment unit adjusts the rotation parameter, which is the control parameter that determines the rotation state, based on the detection result of the detection unit.

[0028] This configuration enables the machine's rotation to be controlled based on the state of the outer edge of the field. Therefore, compared to configurations that control rotation regardless of the state of the outer edge of the field, this design facilitates efficient field movement of the agricultural machine while preventing interference with the outer edge of the field.

[0029] Another feature of the present invention is an agricultural machine control program that controls an agricultural machine equipped with a detection unit. The detection unit takes the portion of the outer edge of the field, which is set in a manner surrounding the field and located in front of the machine in the direction of travel, as the detection object. The program detects the state of the outer edge of the field while the machine is traveling in the field. The agricultural machine control program enables the computer to perform parameter adjustment functions that adjust the control parameters that determine the state of the machine based on the detection results of the detection unit.

[0030] Another feature of the present invention is a recording medium that records an agricultural machinery control program. This agricultural machinery control program controls an agricultural machinery equipped with a detection unit. The detection unit takes the portion of the outer edge of the field, which is set in a manner surrounding the field and located in front of the machine's direction of travel, as the detection object. The detection unit detects the state of the outer edge of the field while the machine is traveling in the field. The agricultural machinery control program enables a computer to perform parameter adjustment functions that adjust the control parameters that determine the state of the machine based on the detection results of the detection unit.

[0031] Another feature of the present invention is a method for controlling an agricultural machine, which controls an agricultural machine equipped with a detection unit. The detection unit takes the portion of the outer edge of the field, which is arranged in a manner surrounding the field and located in front of the machine in the direction of travel, as the detection object, and detects the state of the outer edge of the field while traveling in the field. The method for controlling the agricultural machine includes a parameter adjustment step that adjusts control parameters that determine the state of the machine based on the detection results of the detection unit. Attached Figure Description

[0032] Figure 1 This is a left-side view of a combine harvester.

[0033] Figure 2 This is a top view of a combine harvester.

[0034] Figure 3 This is a diagram showing the first operation's movement.

[0035] Figure 4 This is a diagram showing the second operation's movement.

[0036] Figure 5 This is a block diagram showing the components related to the control unit.

[0037] Figure 6 This diagram illustrates an example of controlling the height of the harvesting section based on the detection results from the detection department.

[0038] Figure 7 This is a diagram showing unconfirmed areas and areas that have been inspected.

[0039] Figure 8 This is a diagram showing an example of a map of the outer edge.

[0040] Figure 9 This is a diagram showing an example of a target driving path generated by the second path generation unit. Detailed Implementation

[0041] 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, all other embodiments will be used. Figure 1 , Figure 2 , Figure 7 The direction of arrow F is taken as "forward," and the direction of arrow B is taken as "backward." Additionally, [the text abruptly ends here]. Figure 2 as well as Figure 7 The direction of arrow L is defined as "left," and the direction of arrow R as "right." Additionally, [the text abruptly ends here, likely due to an incomplete sentence or a formatting error]. Figure 1 as well as Figure 7 The direction of arrow U is taken as "up", and the direction of arrow D is taken as "down".

[0042] [The overall structure of a combine harvester]

[0043] The following describes the conventional combine harvester (equivalent to the "agricultural machine" of this invention) in this embodiment. Figure 1 as well as Figure 2 As shown, the combine harvester body 1 includes a harvesting section H, a traveling device 11 with left and right tracks 11a, 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.

[0044] The travel device 11 is located in the lower part of the body 1 of the combine harvester. Furthermore, the travel device 11 is driven by power from an engine (not shown). Moreover, the combine harvester is capable of self-propelled operation via the travel device 11.

[0045] Additionally, the driver's cab 12, threshing device 13, and grain bin 14 are mounted on the upper side of the traveling gear 11. An operator monitoring the combine harvester's operation can sit in the driver's cab 12. Alternatively, the operator can also monitor the combine harvester's operation from outside the machine.

[0046] The grain discharge device 18 is located on the upper side of the grain bin 14. In addition, the satellite positioning module 80 is mounted on the upper surface of the driver's unit 12.

[0047] The harvesting section H is located at the front of the machine body 1. Furthermore, the conveying section 16 is located at the rear of the harvesting section H. Additionally, the harvesting section H includes a cutting device 15 and a reel 17.

[0048] Harvesting device 15 harvests 5 acres of land (refer to) Figure 3 The harvested rice stalks are harvested by the harvesting device 15. Additionally, the reel 17 rotates around its shaft 17b, which runs along the left-right direction of the machine body, while simultaneously rakes together the harvested rice stalks. The harvested rice stalks, cut by the harvesting device 15, are then conveyed to the transport unit 16.

[0049] With this configuration, the harvesting section H harvests the grain (equivalent to the "crop" of the present invention) from the field 5. Furthermore, the combine harvester is capable of harvesting while simultaneously using the cutting device 15 to cut the planted stalks of the field 5 and traveling using the travel device 11.

[0050] The harvested rice stalks harvested by the harvesting section H are conveyed to the rear of the machine by the conveying section 16. The harvested rice stalks are then conveyed to the threshing unit 13.

[0051] In the threshing device 13, the harvested rice stalks are threshed. The rice grains obtained after threshing are stored in the grain bin 14. The rice grains stored in the grain bin 14 are discharged out of the machine by the grain discharge device 18 as needed.

[0052] Here, combine harvesters are like Figure 3 as well as Figure 4 As shown, the field 5 is configured to harvest grain 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 of the field includes, for example, a raised bed 61 and a water supply and drainage pump 62 (see reference). Figure 8 )wait.

[0053] combine harvesters, such as Figure 3 As shown, the configuration is designed to perform the first operational movement. The first operational movement refers to operational movement conducted within the outer perimeter area SA of the field 5. Furthermore, the outer perimeter area SA is as follows: Figure 4 As shown, this is the area located on the outer perimeter of field 5.

[0054] In this embodiment, the number of laps during the first operation is 1 lap. However, the present invention is not limited to this, and the number of laps during the first operation can be any number of laps, such as 2 laps or more.

[0055] Moreover, after the combine harvester has completed its first operational run, such as Figure 4 As shown, a second operation is performed, thereby enabling operation to be carried out in field 5. The second operation refers to the operation carried out in the work target area CA, which is located inside the outer perimeter area SA, after the first operation.

[0056] That is, the combine harvester is capable of performing operations in the field 5 by performing operations in the outer perimeter area SA of the field 5, i.e., a first operation, and performing operations in the target area CA, which is inside the outer perimeter area SA, i.e., a second operation, after the first operation.

[0057] Furthermore, the "operational travel" in this embodiment specifically refers to harvesting travel while simultaneously cutting planted rice stalks. However, the present invention is not limited to this; as the "operational travel" of the present invention, other operations besides cutting planted rice stalks may also be performed while traveling.

[0058] 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.

[0059] [Structure related to the control department]

[0060] like Figure 5 As shown, the combine harvester includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, a region 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. In addition, the automatic driving control unit 24 includes a path selection unit 27 and a driving control unit 29 (equivalent to the "parameter adjustment unit" of the present invention).

[0061] like Figure 1 As shown, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as... Figure 5 As shown, the satellite positioning module 80 sends the positioning data representing the position of the combine harvester to the vehicle position calculation unit 21 based on the received GPS signal.

[0062] 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, michibiki, BeiDou, etc.).

[0063] The vehicle position calculation unit 21 calculates the combine harvester's position coordinates over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester over time are then sent to the area calculation unit 22 and the automatic driving control unit 24.

[0064] The regional calculation unit 22 calculates the position coordinates of the combine harvester over time, received from the vehicle position calculation unit 21, such as... Figure 4 Calculate the outer perimeter region SA and the work object region CA as shown.

[0065] More specifically, the area calculation unit 22 calculates the trajectory of the combine harvester during its first operational movement in the field 5 based on the time-lapsed position coordinates of the combine harvester received from the vehicle position calculation unit 21. Then, based on the calculated trajectory of the combine harvester, the area where the combine harvester has performed its first operational movement is calculated as the outer perimeter region SA. In addition, the area calculation unit 22 calculates the area enclosed by the calculated outer perimeter region SA as the work target region CA.

[0066] For example in Figure 3 In the diagram, arrows indicate the travel path of the first combine harvester operating in field 5. Once the harvesting along this path is completed, field 5 becomes... Figure 4 The state shown.

[0067] like Figure 4 As shown, the area calculation unit 22 calculates the area where the combine harvester has carried out its first operation as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area enclosed by the calculated outer perimeter area SA as the operation target area CA.

[0068] Then, as Figure 5 As shown, the calculation results of the region calculation unit 22 are sent to the first path generation unit 23.

[0069] The first path generation unit 23, based on the calculation results received from the region calculation unit 22, such as... Figure 4 As shown, the cutting path LI is the driving path used for cutting within the generated task area CA. Additionally, 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. Alternatively, the plurality of grid lines may not be straight lines, but rather curved.

[0070] 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.

[0071] The path selection unit 27 in the automatic driving control unit 24 selects the next harvesting path LI that the combine harvester should travel based on the position coordinates of the combine harvester 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.

[0072] 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 based on the position coordinates of the combine harvester 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, the driving control unit 29, as... Figure 4 As shown, the movement of the combine harvester is controlled so that the harvesting movement is carried out automatically along the harvesting travel path LI.

[0073] In this automatic driving, the driving control unit 29 controls the driving of the combine harvester so that after the current driving path LI, the harvesting driving is carried out along the path selection unit 27 selected by the path selection unit 27.

[0074] like Figure 1 as well as Figure 5 As shown, the combine harvester is equipped with a cutting cylinder 15A. Additionally, as... Figure 5 As shown, the control unit 20 has a lifting control unit 40 (equivalent to the "parameter adjustment unit" of the present invention).

[0075] The lifting control unit 40 is configured to control the cutting cylinder 15A. If the lifting control unit 40 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.

[0076] Furthermore, if the lifting control unit 40 controls the cutting cylinder 15A in the contraction direction, the conveying unit 16 and the harvesting unit H will swing together in the direction in which the harvesting unit H descends. As a result, the harvesting unit H descends.

[0077] With this configuration, the lifting control unit 40 can control the lifting and lowering of the harvesting unit H. Furthermore, the harvesting unit H can be lifted and lowered.

[0078] That is, the combine harvester has a harvesting section H configured to lift and harvest grain from the field 5.

[0079] Based on the above-described configuration, the height of the harvesting section H above the ground in the machine body 1 is determined by the length of the cutting cylinder 15A in the telescopic direction. That is, the length of the cutting cylinder 15A in the telescopic direction is a control parameter that determines the state of the machine body 1. More specifically, the length of the cutting cylinder 15A in the telescopic direction is a control parameter that determines the height of the harvesting section H.

[0080] Then, the lifting control unit 40 adjusts the control parameters that determine the state of the machine body 1. More specifically, the lifting control unit 40 adjusts the length of the cutting cylinder 15A in the extension and retraction direction. In addition, the length of the cutting cylinder 15A in the extension and retraction direction corresponds to the "harvest height parameter" of the present invention.

[0081] In addition, the control unit 20 and the vehicle position calculation unit 21 included in the control unit 20 can be physical devices such as microcomputers or functional units in software.

[0082] [The Composition of the Testing Department]

[0083] like Figure 1 , Figure 2 , Figure 5 As shown, the combine harvester of this embodiment includes a detection unit 30. The detection unit 30 takes the portion of the outer edge 6 of the field located in front of the machine body 1 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 is traveling in the field.

[0084] That is, the combine harvester has a detection unit 30, which takes the part of the outer edge 6 of the field 5 that is set in a state surrounding the field 5 and located in front of the machine body 1 in the direction of travel as the detection object, and detects the state of the outer edge 6 of the field while traveling in the field.

[0085] In detail, the detection unit 30 includes a detection device 31 and an imaging device 32. In this embodiment, the detection device 31 is a two-dimensional scanning LiDAR used as a measurement device for Time-of-Flight (ToF) measurement. However, the present invention is not limited to this; the detection device 31 can also be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the detection device 31 is not limited to ToF measurement; it can also be a stereo matching measurement method, etc.

[0086] Furthermore, the "field driving" of the present invention refers to driving within the field 5. For example, driving within the outermost perimeter of the field 5 is a specific example of the "field driving" of the present invention. Additionally, driving within the field 5 on the inner side beyond the outermost perimeter is also a specific example of the "field driving" of the present invention.

[0087] like Figure 5 As shown, the position coordinates of the combine harvester calculated by the vehicle position calculation unit 21 are sent to the detection unit 30. Then, based on the measurement results of the Time-of-Flight (ToF) measurement method and the position coordinates of the combine harvester received from the vehicle position calculation unit 21, the detection device 31 outputs an indicator of the position of the combine harvester in the forward region FA (refer to the position coordinates of the combine harvester). Figure 1 The detection device 31 collects point data on the position and height of objects. Based on this configuration, the detection device 31 detects the position and height of objects in the area in front of the machine body 1, i.e., the forward area FA, while driving in the field.

[0088] In addition, the imaging device 32 photographs the area FA ahead while moving through the field. In this embodiment, the imaging device 32 is a camera that acquires images containing color information.

[0089] That is, the detection unit 30 includes: a detection device 31 for detecting the position and height of objects in the area in front of the machine body 1 in the direction of travel, i.e., the front area FA, while driving in the field; and a shooting device 32 for taking pictures of the front area FA while driving in the field.

[0090] Furthermore, in this embodiment, the detection range of the detection device 31 and the shooting range of the imaging device 32 are both related to... Figure 1 as well as Figure 2 The area FA shown is consistent with the front region. However, the present invention is not limited to this, and the detection range of the detection device 31 and the shooting range of the imaging device 32 may not be consistent with each other.

[0091] Then, the detection unit 30 detects the state of the outer edge of the field 6 based on the detection results of the detection device 31 and the imaging results of the imaging device 32.

[0092] In detail, the detection unit 30 in this embodiment assigns color information obtained by processing the captured image acquired by the imaging device 32 to the dot group data output by the detection device 31. Then, based on the dot group data to which color information has been assigned, the detection unit 30 determines the boundary between the field 5 and the outer edge 6 of the field. Then, based on the data in the dot group data corresponding to the outer edge 6 of the field, the detection unit 30 detects the three-dimensional shape of the outer edge 6 of the field.

[0093] Alternatively, the boundary between the field 5 and the outer edge 6 of the field can be determined by performing image recognition using a neural network that has been machine-learned on the images captured by the shooting device 32.

[0094] Alternatively, the detection unit 30 may be configured to detect the presence or absence of objects (e.g., water supply and drainage pump 62, trees, etc.) other than the ridges 61 in the outer edge of the field 6. The three-dimensional shape of the outer edge of the field 6 and the presence or absence of objects other than the ridges 61 in the outer edge of the field 6 are specific examples of the "state of the outer edge of the field" of the present invention.

[0095] like Figure 5 As shown, the detection results from the detection unit 30 are sent to the lifting control unit 40. Based on the detection results from the detection unit 30, the lifting control unit 40 controls the lifting and lowering of the harvesting section H so that the harvesting section H does not interfere with the outer edge of the field 6. At this time, the lifting control unit 40 controls the lifting and lowering of the harvesting section H by adjusting the length in the extension and retraction direction of the cutting cylinder 15A.

[0096] Thus, the lifting control unit 40 adjusts the length of the cutting cylinder 15A in the extension direction, which is a control parameter determining the height of the harvesting section H, based on the detection results of the detection unit 30. In other words, the combine harvester has a lifting control unit 40 that adjusts the control parameters that determine the state of the machine body 1 based on the detection results of the detection unit 30.

[0097] Figure 6 An example is shown where the height of the harvest section H is controlled based on the detection results from the detection unit 30. For example... Figure 6 As shown, the ridge 61 has a side portion 61a and an upper surface portion 61b. The side portion 61a slopes upwards towards the outermost edge (the further away from the field 5). The upper surface portion 61b is horizontal.

[0098] In this example, the combine harvester changes direction near the outer edge 6 of the field. Then, midway through the direction change, the harvesting section H temporarily overlaps with the outer edge 6 of the field when viewed from above. At this time, the lifting control unit 40 adjusts the length of the cutting cylinder 15A in the extension direction based on the detection results of the detection unit 30, so as to maintain the separation distance D1 between the harvesting section H and the outer edge 6 of the field greater than a predetermined value. In addition, this predetermined value can be set arbitrarily.

[0099] Furthermore, the adjustment of the length of the cutting cylinder 15A in the extension direction based on the detection results of the detection unit 30 by the lifting control unit 40 can be performed when the combine harvester is traveling manually or when the combine harvester is traveling automatically.

[0100] Furthermore, the detection unit 30 in this embodiment is configured to detect not only the outer edge 6 of the field but also the state of the field 5. More specifically, the detection unit 30 can detect the height and lodging degree of the planted rice stalks in the field 5.

[0101] Based on the above-described configuration, when the combine harvester is operating in the field 5, the detection unit 30 performs real-time sensing, and based on the real-time sensing results of the detection unit 30, adjusts the control parameters that determine the state of the machine body 1.

[0102] Furthermore, in the configuration of adjusting control parameters based on the unconfirmed area UA and the outer edge map described later, the control parameters are also adjusted based on the real-time sensing results of the detection unit 30, thereby enabling high-precision adjustment of the control parameters.

[0103] Furthermore, as long as the configuration of the control parameters is adjusted based on the real-time sensing results of the detection unit 30, the control parameters can be appropriately adjusted without relying on the unconfirmed area UA or the outer edge map. That is, as long as the configuration of the control parameters is adjusted based on the real-time sensing results of the detection unit 30, the configuration for determining the unconfirmed area UA and the configuration for generating the outer edge map can be omitted.

[0104] [The components related to the decision on unconfirmed areas]

[0105] like Figure 5As shown, the control unit 20 includes an unconfirmed area determination unit 26. The detection results from the detection unit 30 are sent to the unconfirmed area determination unit 26. Based on the detection results from the detection unit 30, the unconfirmed area determination unit 26 determines the unconfirmed area UA (refer to...) in the outer edge of the field 6 where the detection unit 30's state detection was incomplete. Figure 7 ).

[0106] That is, the combine harvester has an unconfirmed area determination unit 26 that determines the unconfirmed area UA in the outer edge of the field 6 where the state detection of the detection unit 30 is incomplete.

[0107] exist Figure 7 The example shown is a case where the unconfirmed area UA is determined by the unconfirmed area determination unit 26. In this example, in field 5, grain is planted near the edge of the ridge 61. Additionally, as... Figure 7 As shown in the upper part, the detection of the detection unit 30 is blocked by the top of the planted rice stalks, therefore the detection in the front area FA... Figure 7 The area below the lower limit line LL shown becomes the detection blind spot of the detection unit 30.

[0108] At this time, the unconfirmed area determination unit 26 determines the unconfirmed area UA and the detected area DA based on the detection results of the detection unit 30. Furthermore, the detected area DA is the area within field 5 and the outer edge of field 6 where the detection unit 30 has performed a status check. More specifically, the detected area DA is the area where the detection unit 30 has thoroughly performed a status check, and detected the type of object present, its position, and its height.

[0109] exist Figure 7 In the example shown, the detection of the state of the detection unit 30 is incomplete in the portion of the outer edge 6 of the field, located below the lower limit line LL. More specifically, the detection of the state of the detection unit 30 is incomplete in the lower part of the side surface 61a. Therefore, as... Figure 7 As shown in the lower part, the area corresponding to the lower part of the side part 61a is determined as an unconfirmed area UA by the unconfirmed area determination unit 26.

[0110] In this embodiment, areas lacking corresponding point group data are designated as unconfirmed areas (UA). Conversely, areas containing corresponding point group data are designated as detected areas (DA).

[0111] Furthermore, the state of the area in the forward area FA located on the combine harvester side relative to the unconfirmed area UA is fully detected by the detection unit 30. More specifically, the detection unit 30 detects the position and height of the planted rice stalks in this area. Therefore, this area is determined by the unconfirmed area determination unit 26 as the detected area DA.

[0112] Furthermore, the detection unit 30 fully detects the state of the area in the forward area FA that is located on the opposite side of the combine harvester relative to the unconfirmed area UA. More specifically, the detection unit 30 fully detects the position and three-dimensional shape of the ridge edge 61 in this area. Therefore, this area is determined by the unconfirmed area determination unit 26 as the detected area DA.

[0113] Furthermore, the unconfirmed region UA ​​and the detected region DA determined by the unconfirmed region determination unit 26 can be two-dimensional regions (regions defined in a plane) or three-dimensional regions (regions defined in space).

[0114] Furthermore, in this embodiment, the unconfirmed region determination unit 26 determines the unconfirmed region UA ​​and the detected region DA solely based on the detection result of the detection unit 30 at the current moment. However, the present invention is not limited to this; the unconfirmed region determination unit 26 may also determine the unconfirmed region UA ​​and the detected region DA based on the detection result of the detection unit 30 over time.

[0115] For example, the unconfirmed area determination unit 26 can also generate a detection map based on the detection results of the detection unit 30 over time. In this case, the detection map is a map showing the distribution of unconfirmed areas UA and detected areas DA.

[0116] In the formation of the detection map, before the combine harvester begins its harvesting journey in field 5, the entire detection map is an unconfirmed area UA. Then, as the combine harvester continues its harvesting journey in field 5, the area detected by the detection unit 30 expands. Therefore, as the combine harvester continues its harvesting journey in field 5, the detected area DA in the detection map expands, and the unconfirmed area UA narrows.

[0117] [Control based on unconfirmed areas]

[0118] like Figure 5 As shown, information regarding the unconfirmed area UA, determined by the unconfirmed area determination unit 26, and the detected area DA is sent to the driving control unit 29. The driving control unit 29 controls the driving device 11 based on this information.

[0119] In detail, the travel control unit 29 determines whether a predetermined condition is met based on the position coordinates of the combine harvester received from the vehicle position calculation unit 21 and information indicating the unconfirmed area UA and the detected area DA. In this embodiment, the predetermined condition is that "the combine harvester travels in a direction approaching the unconfirmed area UA, and the distance from the combine harvester's current position to the unconfirmed area UA is less than a predetermined distance." If the predetermined condition is met, the travel control unit 29 adjusts the rotation speed of the track 11a in the travel device 11 to reduce the vehicle speed. At this time, the travel control unit 29 reduces the rotation speed of the track 11a. Alternatively, the predetermined condition can be appropriately modified.

[0120] Furthermore, in the combine harvester of this embodiment, the vehicle speed is determined based on the rotational speed of the track 11a. That is, the rotational speed of the track 11a is a control parameter that determines the state of the machine body 1. More specifically, the rotational speed of the track 11a is a control parameter that determines the vehicle speed. Moreover, the rotational speed of the track 11a is equivalent to the "vehicle speed parameter" of this invention.

[0121] Thus, the driving control unit 29 adjusts the rotational speed of the track 11a based on the unconfirmed area UA.

[0122] Furthermore, as explained above, the unconfirmed area UA determined by the unconfirmed area determination unit 26 is based on the detection results of the detection unit 30. That is, the travel control unit 29 adjusts the control parameters that determine the vehicle speed, namely the rotation speed of the track 11a, based on the detection results of the detection unit 30. In other words, the combine harvester has a travel control unit 29 that adjusts the control parameters that determine the state of the machine body 1 based on the detection results of the detection unit 30.

[0123] In addition, the adjustment of the rotation speed of the track 11a by the driving control unit 29 based on the unconfirmed area UA or the detection results of the detection unit 30 can be performed when the combine harvester is driving manually or when the combine harvester is driving automatically.

[0124] [Composition related to the outer edge map]

[0125] like Figure 5 As shown, the control unit 20 includes a map generation unit 25. The detection results from the detection unit 30 are sent to the map generation unit 25.

[0126] The map generation unit 25 generates an outer edge map based on the detection results of the detection unit 30. 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.

[0127] That is, the combine harvester has a map generation unit 25 that generates an outer edge map representing the distribution of the state of the outer edge 6 of the field based on the detection results of the detection unit 30.

[0128] Figure 8 An example of an outer edge map generated by the map generation unit 25 is shown. Figure 8 The map of the outer edge shown includes the location and three-dimensional shape of the side portion 61a of the ridge 61, the location and three-dimensional shape of the upper surface portion 61b of the ridge 61, and the location and three-dimensional shape of the water supply and drainage pump 62.

[0129] in addition, Figure 8 The map of the outer edge shown corresponds to the entire circumference of the outer edge 6 of the field. That is, the map of the outer edge shows the distribution of the state of the outer edge 6 of the field throughout the entire circumference. However, the present invention is not limited thereto.

[0130] For example, when the detection unit 30 has detected 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 area detected by the detection unit 30 expands while the combine harvester is moving through the field 5. In this case, the area represented by the outer edge map expands as the combine harvester moves through the field 5 for harvesting.

[0131] In addition, such as Figure 5 As shown, the automatic driving control unit 24 has a second path generation unit 28 (equivalent to the "path generation unit" of the present invention). The outer edge map generated by the map generation unit 25 is sent to the second path generation unit 28. Then, the second path generation unit 28 generates a target driving path TL for the second operation (see reference). Figure 6 as well as Figure 9 ).

[0132] The target driving path TL is described in detail below.

[0133] exist Figure 6 The example shown illustrates a combine harvester changing direction near the outer edge 6 of a field. In this example, a map of the outer edge has been generated by the map generation unit 25. Furthermore, in this example, the combine harvester performs the second operational movement described above via automatic driving.

[0134] exist Figure 6 In the example shown, the combine harvester first travels straight while harvesting within the target area CA. Then, if the harvesting section H moves from the target area CA into the outer perimeter area SA, the combine harvester changes direction via a α-turn.

[0135] More specifically, if the harvesting section H moves from the target area CA into the outer perimeter area SA, the combine harvester decelerates and rotates to the left under the control of the travel control unit 29. Then, the combine harvester temporarily stops when the harvesting section H overlaps with the outer edge 6 of the field when viewed from above.

[0136] Then, the combine harvester reverses and moves forward while changing the orientation of its body 1. Thus, the combine harvester's direction change is completed.

[0137] Here, before the harvesting unit H enters the outer perimeter area SA from the target area CA, the second path generation unit 28 receives information indicating the harvesting travel path LI selected by the path selection unit 27. Furthermore, based on this information and the outer perimeter map received from the map generation unit 25, the second path generation unit 28 generates a target travel path TL for the combine harvester that becomes the target during a direction change. At this time, the second path generation unit 28 generates the target travel path TL according to the distribution of the state of the outer perimeter 6 of the field, so that the combine harvester can efficiently perform direction changes, and the harvesting unit H does not interfere with the outer perimeter 6 of the field during the direction change. Additionally, Figure 6 The diagram illustrating the cutting of the driving path LI is omitted in the text.

[0138] That is, the combine harvester has a second path generation unit 28 that generates a target travel path TL for the second operation based on the outer edge map.

[0139] Then, the travel control unit 29 controls the movement of the combine harvester so that the combine harvester changes direction along the generated target travel path TL. At this time, the travel control unit 29 adjusts the speed difference between the left and right tracks 11a in the travel device 11 based on the target travel path TL.

[0140] Furthermore, in the combine harvester of this embodiment, the rotational state of the machine body 1 is determined by the speed difference between the left and right tracks 11a. That is, the speed difference between the left and right tracks 11a is a control parameter that determines the state of the machine body 1. More specifically, the speed difference between the left and right tracks 11a is a control parameter that determines the rotational state. Moreover, the speed difference between the left and right tracks 11a corresponds to the "rotational parameter" of this invention.

[0141] Furthermore, as explained above, the target travel path TL generated by the second path generation unit 28 is based on the outer edge map. The outer edge map generated by the map generation unit 25 is based on the detection results of the detection unit 30. That is, the travel control unit 29 adjusts the control parameters that determine the rotation state, namely the speed difference between the left and right tracks 11a, based on the detection results of the detection unit 30.

[0142] Furthermore, the speed difference adjustment of the left and right tracks 11a by the driving control unit 29 based on the detection results of the detection unit 30 can be performed when the combine harvester is driving manually or when the combine harvester is driving automatically.

[0143] Furthermore, when the combine harvester changes direction, if the ground height of the portion of the outer edge 6 of the field located in front of the machine body 1 in the direction of travel is higher than the prescribed height, the second path generation unit 28 does not generate a path. Figure 6 Instead of the target driving path TL shown in the diagram, it generates an α-turn. Figure 9 The target driving path TL is shown. Furthermore, the specified height can be set arbitrarily. Additionally, in... Figure 9 The diagram of the cutting travel path LI is omitted in the text. Then, the travel control unit 29 controls the travel of the combine harvester so that the combine harvester changes direction along the generated target travel path TL.

[0144] exist Figure 9 In the example shown, the combine harvester first travels straight while harvesting within the target area CA. Then, after the harvest section H moves from the target area CA into the outer perimeter area SA, the combine harvester temporarily stops when the harvest section H does not overlap with the outer edge 6 of the field when viewed from above.

[0145] Then, the combine harvester repeatedly moved backward and forward while changing the orientation of its body 1. Thus, the combine harvester's direction change was completed.

[0146] Based on the configuration described above, control parameters are adjusted according to the state of the portion of the outer edge 6 of the field located in front of the machine body 1 in the direction of travel. Therefore, the machine body 1 is controlled based on the state of the portion of the outer edge 6 of the field located in front of the machine body 1 in the direction of travel. Thus, based on the configuration described above, a combine harvester capable of controlling the machine body 1 based on the state of the portion of the outer edge 6 of the field located in front of the machine body 1 in the direction of travel can be realized.

[0147] [Other Implementation Methods]

[0148] (1) The driving device 11 can be wheeled or half-tracked. For example, when the driving device 11 is wheeled, the rotational speed of the wheels is equivalent to the "vehicle speed parameter" of the present invention. In addition, the rotation angle of the wheels during rotation is equivalent to the "rotation parameter" of the present invention.

[0149] (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 vortex-shaped 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.

[0150] (3) Some or all of the following units may be equipped on the outside of the combine harvester: the vehicle position calculation unit 21, the area calculation unit 22, the first path generation unit 23, the automatic driving control unit 24, the map generation unit 25, the unconfirmed area determination unit 26, the path selection unit 27, the second path generation unit 28, the driving control unit 29, and the lifting control unit 40. For example, they may also be equipped on management facilities or management servers installed on the outside of the combine harvester.

[0151] (4) Combine harvesters can also be configured to not drive automatically.

[0152] (5) In the above embodiment, the lifting control unit 40 controls the lifting of the harvesting section H to maintain the separation distance D1 between the harvesting section H and the outer edge of the field 6 being greater than a predetermined value.

[0153] However, the present invention is not limited thereto, and such a specified value may not be set.

[0154] (6) The outer edge map can also show the position and height of the lowest part of the side part 61a of the ridge 61, and the position and height of the highest part of the side part 61a of the ridge 61.

[0155] (7) In the above embodiment, the area calculation unit 22 calculates the area where the combine harvester has performed its first working 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 performs its first working trip.

[0156] (8) The first path generation unit 23 may also generate a cut-out driving path LI based on the outer edge map. In this case, the first path generation unit 23 is equivalent to the "path generation unit" of the present invention, and the cut-out driving path LI is equivalent to the "target driving path" of the present invention.

[0157] (9) The lifting control unit 40 can also adjust the length of the harvesting cylinder 15A in the extension direction based on the unconfirmed area UA. For example, the lifting control unit 40 can also be configured to extend the harvesting cylinder 15A to its designed maximum length when the harvesting section H overlaps with the unconfirmed area UA when viewed from above. As a result, the harvesting section H rises to its designed highest position.

[0158] (10) In the above embodiment, the unconfirmed area determination unit 26 determines the areas of the field 5 and the outer edge of the field 6 that have undergone state detection by the detection unit 30 as the detection completed area DA. However, the present invention is not limited to this. The unconfirmed area determination unit 26 may also be configured to determine the detection completed area DA only for the outer edge of the field 6.

[0159] (11) In the above embodiment, the travel control unit 29 adjusts the rotational speed of the track 11a based on the unconfirmed region UA. However, the present invention is not limited thereto. The travel control unit 29 may also be configured to adjust the rotational speed of the track 11a without being based on the unconfirmed region UA.

[0160] For example, the travel control unit 29 may be configured to receive the detection result from the detection unit 30 and adjust the rotation speed of the track 11a based on the detection result. In this case, for example, the travel control unit 29 may reduce the rotation speed of the track 11a when the combine harvester is traveling in a direction close to the outer edge of the field 6 and the distance from the current position of the combine harvester to the outer edge of the field 6 is less than a predetermined distance.

[0161] (12) In the above embodiment, the travel control unit 29 adjusts the speed difference between the left and right tracks 11a based on the target travel path TL. However, the present invention is not limited to this. The travel control unit 29 may also be configured to adjust the speed difference between the left and right tracks 11a without being based on the target travel path TL.

[0162] For example, the travel control unit 29 may be configured to receive the detection results from the detection unit 30 and adjust the speed difference between the left and right tracks 11a based on these results. In this case, for example, the travel control unit 29 may adjust the speed difference between the left and right tracks 11a when the combine harvester is traveling towards the outer edge 6 of the field and the distance from the current position of the combine harvester to the outer edge 6 of the field is less than a predetermined distance, so that the direction of travel of the combine harvester changes in the direction in which the combine harvester does not approach the outer edge 6 of the field.

[0163] (13) In the above embodiments, a combine harvester using the present invention was described. However, the present invention is not limited to combine harvesters. For example, the present invention can also be applied to rice transplanters (equivalent to the "agricultural machine" of the present invention). That is, the parts of the above embodiments that can be applied to rice transplanters are also applicable to rice transplanters.

[0164] For example, the rice transplanter may be equipped with a seedling planting device with a seedling platform at the rear, and the rice transplanter may also have a hydraulic lifting cylinder for raising and lowering the seedling planting device, a detection unit 30, and a lifting control unit 40. Moreover, the lifting control unit 40 may be configured to control the lifting cylinder.

[0165] In this configuration, the lifting control unit 40 can control the lifting and lowering of the seedling planting device. Furthermore, the length of the lifting cylinder in the extension / retraction direction and the lifting height of the seedling planting device correspond to the "control parameters" of this invention.

[0166] In this configuration, the lifting control unit 40 can also be configured to control the lifting of the seedling planting device based on the detection results of the detection unit 30, so that the seedling planting device does not interfere with the outer edge of the field 6.

[0167] For example, the lifting control unit 40 can also be configured to control the lifting of the seedling planting device based on the detection results of the detection unit 30, so that the seedling planting device does not interfere with the ridge 61. In addition, when there is an obstacle at the outer edge of the field 6, the lifting control unit 40 can also be configured to control the lifting of the seedling planting device based on the detection results of the detection unit 30, so that the seedling planting device does not interfere with the obstacle.

[0168] Alternatively, the rice transplanter may also have left and right front wheels and left and right rear wheels, and a driving control unit 29. In this case, the driving control unit 29 may also be configured to adjust the control parameters that determine the vehicle speed, namely the rotational speeds of the left and right front wheels and the left and right rear wheels, based on the detection results of the detection unit 30.

[0169] Furthermore, if the front wheel or the rear wheel of the rice transplanter is configured as a steering wheel capable of turning, the driving control unit 29 may also be configured to adjust the control parameter that determines the rotation state, i.e., the rotation angle of the steering wheel, based on the detection result of the detection unit 30.

[0170] Furthermore, in this rice transplanter, the detection unit 30 can perform detection either while the machine is moving forward or backward. Also, during backward movement, the rear of the transplanter corresponds to the "front of the machine's direction of travel" in this invention. Additionally, in this rice transplanter, the adjustment of control parameters by the lifting control unit 40 and the travel control unit 29 can be performed either while the machine is moving forward or backward.

[0171] (14) In the above embodiments, a combine harvester using the present invention was described. However, the present invention is not limited to combine harvesters. For example, the present invention can also be applied to tractors (equivalent to the "agricultural work machine" of the present invention) or tractor-operated machinery (equivalent to the "agricultural work machine" of the present invention). That is, the parts of the above embodiments that can be applied to tractors and work machines are also applicable to tractors and work machines.

[0172] For example, a field ridge trimming machine can be installed at the rear of a tractor as a working machine, and the tractor or field ridge trimming machine can be equipped with an actuator that changes the left and right position, tilt, etc. of the field ridge trimming machine, a detection unit 30, and a field ridge trimming control unit (equivalent to the "parameter adjustment unit" of the present invention). Moreover, the field ridge trimming control unit can also be configured to control the actuator.

[0173] In this configuration, the field ridge trimming control unit can control the left and right position, tilt, etc. of the field ridge trimming machine. Furthermore, the left and right position, tilt, etc. of the field ridge trimming machine correspond to the "control parameters" of this invention.

[0174] In this configuration, the ridge trimming control unit can also be configured to control the left and right position, tilt, etc. of the ridge trimming machine based on the detection results of the detection unit 30, so as to form a suitable ridge 61. In this case, the ridge trimming control unit adjusts the left and right position, tilt, etc. of the ridge trimming machine based on the detection results of the detection unit 30.

[0175] (15) It may also be configured as an agricultural machinery control program that enables the computer to perform the functions of each component in the above embodiments. Alternatively, it may be configured as a recording medium that records the agricultural machinery control program that enables the computer to perform the functions of each component in the above embodiments. Furthermore, in the above embodiments, it may also be configured as an agricultural machinery control method that performs the tasks performed by each component through one or more steps.

[0176] Furthermore, the configurations disclosed in the above-described embodiments (including other embodiments, the same below) can be combined and applied with the configurations disclosed in other embodiments, as long as they do not create contradictions. Additionally, the embodiments disclosed in this specification are illustrative, 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.

[0177] Industrial availability

[0178] This invention can be used not only with ordinary combine harvesters, but also with various agricultural machines such as semi-feeding combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.

[0179] Explanation of reference numerals in the attached figures

[0180] 1. Body

[0181] 5. Fields

[0182] 6. Outer edge of the field

[0183] 25 Map Generation Department

[0184] 26 Unconfirmed Area Decision Department

[0185] 28 Second Path Generation Unit (Path Generation Department)

[0186] 29. Driving Control Unit (Parameter Adjustment Unit)

[0187] 30. Testing Department

[0188] 31 Detection Device

[0189] 32 Filming Device

[0190] 40 Lifting Control Unit (Parameter Adjustment Unit)

[0191] CA Operation Object Area

[0192] FA Front Area

[0193] H Harvesting Department

[0194] SA peripheral area

[0195] TL Target Driving Path

[0196] UA Unconfirmed Area

Claims

1. An agricultural machine, comprising: The detection unit measures the portion of the outer edge of the field, which is positioned to surround the field and located in front of the machine's direction of travel, as the detection target, and detects the state of the outer edge of the field while traveling through the field; and The parameter adjustment unit adjusts the control parameters that determine the state of the body based on the detection results of the detection unit. The harvesting section is configured to be able to rise and fall and harvest the crops in the field; An automatic driving control unit controls the automatic driving of the machine body; Under the control of the automatic driving control unit, the height of the portion of the outer edge of the field located in front of the machine's direction of travel is determined. ， When the harvesting section temporarily overlaps with the outer edge of the field in a top-down view, and when the ground height of the portion of the outer edge of the field located in front of the machine's direction of travel is higher than a predetermined height, the harvesting section does not overlap with the outer edge of the field in a top-down view.

2. An agricultural machine, comprising: The detection unit takes the portion of the outer edge of the field, which is set in a manner that surrounds the field, located in front of the machine's direction of travel, as the detection object, and detects the state of the outer edge of the field while traveling through the field; The parameter adjustment unit adjusts the control parameters that determine the state of the body based on the detection results of the detection unit. A harvesting unit is configured to be able to rise and fall and harvest crops from the field; and The unconfirmed area determination unit, based on the detection results of the detection unit, determines the areas in the outer edge of the field where the detection unit's state detection was incomplete, i.e., unconfirmed areas, and the areas where the detection unit's state detection was fully performed and the types, positions, and heights of objects were detected, i.e., detected areas. The parameter adjustment unit adjusts the control parameters based on the unconfirmed region. Based on the detection results of the detection unit, the parameter adjustment unit adjusts either the harvest height parameter, which is a control parameter determining the height of the harvesting unit, or the vehicle speed parameter, which is a control parameter determining the vehicle speed.

3. The agricultural machinery according to claim 1 or 2, characterized in that, The detection unit includes: a detection device that, while traveling through a field, detects the position and height of objects present in an area in front of the machine's direction of travel, i.e., the area in front; and a camera device that, while traveling through a field, captures images of the area in front. The detection unit detects the state of the outer edge of the field based on the detection results of the detection device and the shooting results of the shooting device.

4. The agricultural machinery according to claim 1 or 2, characterized in that, It has a map generation unit that generates an outer edge map representing the distribution of the state of the outer edge of the field based on the detection results of the detection unit.

5. The agricultural machine according to claim 4, characterized in that, The system is configured to perform operational travel within the field via a first operational travel and a second operational travel. The first operational travel is conducted in the outer perimeter area of ​​the field, and the second operational travel is conducted after the first operational travel in a work target area located further inward than the outer perimeter area. It includes a path generation unit that generates a target driving path for the second operation based on the outer edge map.

6. The agricultural machinery according to claim 1 or 2, characterized in that, The parameter adjustment unit adjusts the rotation parameter, which is the control parameter that determines the rotation state, based on the detection result of the detection unit.

7. A control program product for an agricultural machine, controlling an agricultural machine having a detection unit and a harvesting unit, wherein the detection unit detects the portion of the outer edge of the field, which is arranged in a manner surrounding the field and is located in front of the machine body in the direction of travel, and detects the state of the outer edge of the field while traveling in the field; the harvesting unit is configured to be able to lift and harvest crops in the field, characterized in that... The agricultural machinery control program enables the computer to adjust control parameters based on the detection results from the detection unit, thereby determining the state of the machine. Automatic driving control function that controls the automatic movement of the machine body. Through the control of the automatic driving control function, based on the height of the portion of the outer edge of the field located in front of the machine body in the direction of travel, the agricultural machine can perform a direction change where the harvesting part temporarily overlaps with the outer edge of the field when viewed from above, and a direction change where the harvesting part does not overlap with the outer edge of the field when viewed from above, provided that the ground height of the portion of the outer edge of the field located in front of the machine body in the direction of travel is higher than a specified height.

8. A recording medium recording an agricultural machinery control program that controls an agricultural machinery having a detection unit and a harvesting unit, wherein the detection unit detects the portion of the outer edge of a field, which is arranged in a manner surrounding the field and is located in front of the machine body in the direction of travel, and detects the state of the outer edge of the field while traveling in the field; the harvesting unit is configured to be able to lift and harvest crops from the field, characterized in that... The agricultural machinery control program enables the computer to adjust control parameters based on the detection results from the detection unit, thereby determining the state of the machine. Automatic driving control function that controls the automatic movement of the machine body. Through the control of the automatic driving control function, based on the height of the portion of the outer edge of the field located in front of the machine body in the direction of travel, the agricultural machine can perform a direction change where the harvesting part temporarily overlaps with the outer edge of the field when viewed from above, and a direction change where the harvesting part does not overlap with the outer edge of the field when viewed from above, provided that the ground height of the portion of the outer edge of the field located in front of the machine body in the direction of travel is higher than a specified height.

9. A method for controlling an agricultural machine, comprising controlling an agricultural machine having a detection unit and a harvesting unit, wherein the detection unit detects the portion of the outer edge of the field, which is arranged in a manner surrounding the field and is located in front of the machine body in the direction of travel, and detects the state of the outer edge of the field while traveling in the field; the harvesting unit is configured to be able to lift and harvest the crops in the field, characterized in that... The agricultural machinery control method includes a parameter adjustment step that adjusts control parameters that determine the state of the machine body based on the detection results from the detection unit. Automatic driving control steps for controlling the automatic driving of the machine body. Through the control of the automatic driving control steps, based on the height of the portion of the outer edge of the field located in front of the machine body in the direction of travel, the agricultural machine performs a direction change in which the harvesting part temporarily overlaps with the outer edge of the field when viewed from above, and performs a direction change in which the harvesting part does not overlap with the outer edge of the field when viewed from above, provided that the ground height of the portion of the outer edge of the field located in front of the machine body in the direction of travel is higher than a specified height.

10. A control program product for an agricultural machinery, controlling an agricultural machinery equipped with a detection unit, wherein the detection unit takes the portion of the outer edge of the field, which is arranged in a manner surrounding the field and located in front of the machine body in the direction of travel, as the detection object, and detects the state of the outer edge of the field while traveling in the field, characterized in that... The agricultural machinery control program enables the computer to adjust the control parameters that determine the state of the machine body based on the detection results of the detection unit. The unconfirmed area determination function, based on the detection results of the detection unit, determines the unconfirmed area (area where the detection unit's state detection was incomplete) and the detected area (area where the detection unit's state detection was complete, and the types, positions, and heights of objects were detected) within the outer edge of the field. The parameter adjustment function adjusts the control parameters based on the unconfirmed region. The parameter adjustment function adjusts the harvest height parameter, which is a control parameter that determines the height of the harvest section, or the vehicle speed parameter, which is a control parameter that determines the vehicle speed, based on the detection results of the detection unit.

11. A recording medium recording an agricultural machinery control program that controls an agricultural machinery equipped with a detection unit, the detection unit detecting the portion of the outer edge of a field, positioned in a manner surrounding the field and located in front of the machine's traveling direction, and detecting the state of the outer edge of the field while the machine is traveling through the field, characterized in that... The agricultural machinery control program enables the computer to adjust the control parameters that determine the state of the machine body based on the detection results of the detection unit. The unconfirmed area determination function, based on the detection results of the detection unit, determines the unconfirmed area (area where the detection unit's state detection was incomplete) and the detected area (area where the detection unit's state detection was complete, and the types, positions, and heights of objects were detected) within the outer edge of the field. The parameter adjustment function adjusts the control parameters based on the unconfirmed region. The parameter adjustment function adjusts the harvest height parameter, which is a control parameter that determines the height of the harvest section, or the vehicle speed parameter, which is a control parameter that determines the vehicle speed, based on the detection results of the detection unit.

12. A method for controlling an agricultural machinery, comprising controlling an agricultural machinery equipped with a detection unit, wherein the detection unit takes a portion of the outer edge of a field, which is arranged in a manner surrounding the field and is located in front of the machine body in the direction of travel, as the detection object, and detects the state of the outer edge of the field while traveling in the field, characterized in that... The agricultural machinery control method includes a parameter adjustment step that adjusts control parameters that determine the state of the machine body based on the detection results of the detection unit. The unconfirmed area determination step, based on the detection results of the detection unit, determines the areas in the outer edge of the field where the detection unit's state detection was incomplete (i.e., unconfirmed areas) and the areas where the detection unit's state detection was sufficient, and the types, positions, and heights of objects present were detected (i.e., detected areas). The parameter adjustment step adjusts the control parameters based on the unconfirmed region. The parameter adjustment step adjusts the harvest height parameter, which is a control parameter that determines the height of the harvest section, or the vehicle speed parameter, which is a control parameter that determines the vehicle speed, based on the detection results of the detection unit.

Images