Automatic travel control system, field working machine, automatic travel control method, automatic travel control program, and recording medium

Abstract

When the determination section determines that the body (1) cannot enter in the manner of following the travel path (LI) at the time of entering the unworked area from the outer peripheral area on the basis of the detection result of the detection section, the travel control section is configured to cause the body (1) to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path (LI) again. The detection section detects an inward state in which the body (1) is positionally deviated in the left-right direction with respect to the travel path (LI) and the body (1) is oriented toward the travel path (LI), and an outward state in which the body (1) is positionally deviated in the left-right direction with respect to the travel path (LI) and the body (1) is not oriented toward the travel path (LI). The determination section changes a condition for determining whether the body (1) can enter in the manner of following the travel path (LI) at the time of entering the unworked area, depending on whether the body (1) is in the inward state or the outward state.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatic travel control system, a field working machine, an automatic travel control method, an automatic travel control program, and a recording medium. BACKGROUND

[0002] For example, in the automatic travel control system disclosed in Japanese Patent Application Publication No. 2020-87196 (Patent Literature 1), a travel control section is provided, which controls travel of a machine body (in the document, “working vehicle”) so that the machine body automatically travels along a travel path (in the document, “target travel path”). In addition, when the travel control section determines that the machine body cannot enter in a manner of following the travel path, the travel control section performs retry travel.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2020-87196 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] The range in which the machine body can enter in a manner of following the travel path differs depending on whether the orientation of the machine body is toward the travel path. However, in the automatic travel control system of Japanese Patent Application Publication No. 2020-87196, the determination section determines whether the machine body can enter in a manner of following the travel path based only on the position of the machine body. That is, in the automatic travel control system of Japanese Patent Application Publication No. 2020-87196, because the orientation of the machine body is not considered in the determination of the determination section, unnecessary retry travel can be performed. From the viewpoint of efficiently traveling in the unworked area, it is desirable that the determination section be a structure that can determine whether the machine body can enter in a manner of following the travel path based on the position and the orientation of the machine body.

[0008] An object of the present application is to provide an automatic travel control system, a field working machine, an automatic travel control method, an automatic travel control program, and a recording medium that can efficiently automatically travel in an unworked area.

[0009] TECHNICAL SOLUTION FOR SOLVING THE PROBLEM

[0010] In the automatic travel control system of the present application, characterized by comprising: a path setting section that sets a travel path for an unworked area inside a field from an outer peripheral area; a travel control section that controls travel of a machine body so as to travel along the travel path; a detection section that detects an orientation and a position of the machine body; a determination section that determines whether the machine body can enter along the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection section, and when the determination section determines that the machine body cannot enter along the travel path, the travel control section is configured to make the machine body perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again, the detection section is configured to detect an inward state in which the machine body is positionally deviated in a left-right direction with respect to the travel path and the machine body is oriented toward the travel path, and an outward state in which the machine body is positionally deviated in the left-right direction with respect to the travel path and the machine body is not oriented toward the travel path, and the determination section is configured to change a condition for determining whether the machine body can enter along the travel path when entering the unworked area, according to whether the machine body is in the inward state or the outward state.

[0011] According to the present application, because the condition for determination of the determination section is changed in the inward state and the outward state, respectively, compared with a structure in which the determination section performs the above-described determination based only on the position of the machine body, it is possible to perform a flexible determination, and the frequency of unnecessary retry travel is reduced. Thus, it is possible to realize an automatic travel control system that can automatically travel efficiently in an unworked area.

[0012] The technical features of the automatic travel control system described above can also be applied to a field work machine capable of automatic travel. In the field work machine in this case, characterized by comprising: a path setting section that sets a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control section that controls travel of a machine body so that the machine body travels along the travel path; a detection section that detects an orientation and a position of the machine body; a determination section that determines whether the machine body can enter in a manner of following the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection section, the travel control section being configured to perform retry travel in which the machine body is temporarily stopped and backed up and then advances toward the travel path again when the determination section determines that the machine body cannot enter in the manner of following the travel path, the detection section being configured to detect an inward state in which the machine body is positionally deviated in a left-right direction relative to the travel path and the machine body is oriented toward the travel path, and an outward state in which the machine body is positionally deviated in the left-right direction relative to the travel path and the machine body is not oriented toward the travel path, and the determination section being configured to change a condition for determining whether the machine body can enter in the manner of following the travel path when entering the unworked area, according to whether the machine body is in the inward state or the outward state.

[0013] The technical features of the automatic travel control system described above can also be applied to a control method of a field work machine. The control method in this case is characterized by comprising: a path setting step of setting a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control step of controlling travel of a machine body so that the machine body travels along the travel path; a detection step of detecting an orientation and a position of the machine body; a determination step of determining whether the machine body can enter in a manner of following the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection step, the travel control step being configured to perform retry travel in which the machine body is temporarily stopped and backed up and then advances toward the travel path again when it is determined in the determination step that the machine body cannot enter in the manner of following the travel path, the detection step being configured to detect an inward state in which the machine body is positionally deviated in a left-right direction relative to the travel path and the machine body is oriented toward the travel path, and an outward state in which the machine body is positionally deviated in the left-right direction relative to the travel path and the machine body is not oriented toward the travel path, and the determination step being configured to change a condition for determining whether the machine body can enter in the manner of following the travel path when entering the unworked area, according to whether the machine body is in the inward state or the outward state.

[0014] The technical features of the automatic travel control system described above can also be applied to a control program for a field working machine. Furthermore, an optical disc or a magnetic disc, a semiconductor memory, or the like recording medium in which a control program having the technical features is recorded also includes the structure of the present application. The control program in this case is characterized by causing a computer to execute: a path setting function of setting a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control function of controlling travel of a machine body so that the machine body travels along the travel path; a detection function of detecting an orientation and a position of the machine body; and a determination function of determining whether or not the machine body can enter in a manner of traveling along the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection function, the travel control function being configured to cause the machine body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again when the determination function determines that the machine body cannot enter in the manner of traveling along the travel path, the detection function being configured to detect an inward state in which the machine body is positionally deviated in a left-right direction relative to the travel path and the machine body is oriented toward the travel path, and an outward state in which the machine body is positionally deviated in the left-right direction relative to the travel path and the machine body is not oriented toward the travel path, the determination function being configured to change a condition for determining whether or not the machine body can enter in the manner of traveling along the travel path when entering the unworked area, according to whether the machine body is in the inward state or the outward state.

[0015] In the present application, it is preferable that, in the determination section, the condition used when the machine body is in the inward state be set to a value on the side that is less likely to perform the retry travel, as compared with the condition used when the machine body is in the outward state.

[0016] In the case where the machine body is in the inward state, the travel control section can cause the machine body to travel along the travel path with a smaller amount of turning than in the case where the machine body is in the outward state. Therefore, according to the present structure, because the condition used when the machine body is in the inward state is more lenient than the condition used when the machine body is in the outward state, unnecessary retry travel is less likely to occur in the case where the machine body is in the inward state. In addition, because the condition used when the machine body is in the outward state is stricter than the condition used when the machine body is in the inward state, the retry travel can be quickly performed when the retry travel is required. Thus, the required time of the retry travel is shortened.

[0017] In the present application, it is preferable that the detection section is provided with a deviation calculation section that calculates an orientation deviation of the body with respect to an extension direction of the travel path, and a position deviation of the body with respect to the travel path in a direction orthogonal to the extension direction, that the conditions include a first condition in which the position deviation is greater than a certain position deviation threshold value, and a second condition in which the orientation deviation is greater than a certain orientation deviation threshold value, and that the determination section is configured to determine that the body cannot enter in the unworked region in a manner following the travel path when entering the unworked region if at least one of the first condition and the second condition is satisfied.

[0018] If at least one of the orientation deviation of the body and the position deviation of the body becomes large, the possibility that the body cannot enter the unworked region from the outer peripheral region in a manner following the travel path becomes high. Therefore, according to the present structure, if at least one of the first condition in which the position deviation is greater than the position deviation threshold value and the second condition in which the orientation deviation is greater than the orientation deviation threshold value is satisfied, the retry travel is performed. Thus, compared to a structure in which the body enters the unworked region from the outer peripheral region in a state not following the travel path and continues to travel forward, it is less likely that an adverse effect occurs in the work in the field.

[0019] In the present application, it is preferable that the detection section is configured to detect a first state in which the body is located at a position a certain distance ahead of a start point of the travel path to be entered, and a second state in which the body is located at the start point, that the determination section is configured to determine whether or not the body can enter in a manner following the travel path in the first state and the second state, respectively, and that different conditions are used in the determination in the first state and the determination in the second state, and that the condition used in the first state and the condition used in the second state are set to values on the side that is less likely to perform the retry travel, regardless of the inward state or the outward state of the body.

[0020] For example, if the orientation or position of the body greatly deviates from the predetermined one when the body is turning, the orientation or position of the body after the turning is completed also has a high possibility of becoming a state in which the orientation or position greatly deviates from the travel path, and if retry travel is performed from this state, it takes time for the body to travel along the travel path. Therefore, according to the present configuration, retry travel is performed in a state in which the body is located at a position that is a certain distance ahead of the start point of the travel path. That is, compared with a configuration in which determination by the determination section is performed only at the time of determination of the second state, the posture of the body can be re-established at an earlier stage. In addition, regardless of whether the body is in the inward state or the outward state, the condition used in the first state is set to a value on the side on which retry travel is less likely to be performed, compared with the condition used in the second state. Therefore, unnecessary retry travel is avoided, for example, when the orientation or position of the body does not greatly deviate from the predetermined path at the time of turning of the body. In addition, if the condition is unexpectedly too lenient in the second state, retry travel cannot be performed in a situation in which retry travel is actually required, but according to the present configuration, because the condition used in the second state is necessarily stricter than the condition used in the first state, retry travel is reliably performed in a situation in which retry travel is actually required.

[0021] In the present application, it is preferable that a harvesting device that performs a harvesting operation on a field and a harvesting control section that controls driving of the harvesting device be provided, and regardless of whether the body is in the inward state or the outward state, the harvesting control section stops the harvesting device when the body is in the first state and drives the harvesting device when the body is in the second state.

[0022] If the harvesting device is driven in the second state, the harvesting operation when the body enters the unoperated region from the outer peripheral region is smoothly performed. However, if the harvesting device is driven at the start of retry travel, damage to the harvest of the field can also occur, and therefore, it is necessary to stop the harvesting device. According to the present configuration, the harvesting control section stops the harvesting device when the body is in the first state, and therefore, it is possible to quickly perform retry travel in a state in which the first region in which the harvesting operation is not required is stopped.

[0023] In the present application, it is preferable that, regardless of whether the body is in the inward state or the outward state, the harvesting control section start driving of the harvesting device during a period in which the body transitions from the first state to the second state.

[0024] According to the present configuration, the harvesting operation when the body enters the unoperated region from the outer peripheral region is smoothly performed.

[0025] In the automatic travel control system of the present application, characterized by comprising: a path setting section that sets a travel path for an unworked area inside a field compared to an outer peripheral area; a travel control section that controls travel of a machine body so that the machine body travels along the travel path; a detection section that detects at least one of an orientation and a position of the machine body; a determination section that determines whether the machine body can enter in a manner of traveling along the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection section, and when the determination section determines that the machine body cannot enter in the manner of traveling along the travel path, the travel control section is configured to cause the machine body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again; an operation member that is operated by a human; and a change section that changes a condition for determining whether the machine body can enter in the manner of traveling along the travel path when entering the unworked area, according to an operation of the operation member.

[0026] According to the present application, whether the machine body can enter the unworked area from the outer peripheral area in a manner of traveling along the travel path is determined by the determination section, and retry travel is performed when the machine body cannot enter in the manner of traveling along the travel path. Therefore, compared to a structure in which the machine body enters the unworked area from the outer peripheral area without traveling along the travel path and continues to travel forward, it is less likely to cause disadvantages in work in the field. In addition, according to the present application, for example, a manager of the field or an operator of the machine body can change the condition for performing the retry travel via the operation member. Therefore, for example, in a case where even if the machine body cannot enter in the manner of traveling along the travel path, it does not cause an obstacle to actual harvesting, by changing the condition according to the operation of the operation member, it is possible to make a setting change in which it is less likely to perform the retry travel. Thus, according to the state of the field or the wishes of the manager of the field or the like, it is possible to realize an automatic travel control system in which the machine body can efficiently automatically travel in the unworked area.

[0027] The technical features of the automatic travel control system described above can also be applied to a field work machine capable of automatic travel. In the field work machine in this case, characterized by comprising: a path setting section that sets a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control section that controls travel of a machine body so that the machine body travels along the travel path; a detection section that detects at least one of an orientation and a position of the machine body; a determination section that determines whether the machine body can enter in a manner of following the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection section, and when the determination section determines that the machine body cannot enter in the manner of following the travel path, the travel control section is configured to perform retry travel in which the machine body temporarily stops and backs up, and advances toward the travel path again, and comprising: an operation member that is operated by a human; a change section that changes a condition for determining whether the machine body can enter in the manner of following the travel path when entering the unworked area, according to an operation of the operation member.

[0028] The technical features of the automatic travel control system described above can also be applied to a control method of a field work machine. The control method in this case is characterized by comprising: a path setting step of setting a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control step of controlling travel of a machine body so that the machine body travels along the travel path; a detection step of detecting at least one of an orientation and a position of the machine body; a determination step of determining whether the machine body can enter in a manner of following the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection step; a change section that changes a condition for determining whether the machine body can enter in the manner of following the travel path when entering the unworked area, in the determination step, according to an operation of an operation member that is operated by a human, and when it is determined in the determination step that the machine body cannot enter in the manner of following the travel path, retry travel in which the machine body temporarily stops and backs up, and advances toward the travel path again is performed in the travel control step.

[0029] The technical features of the automatic travel control system described above can also be applied to a control program for a field working machine. Furthermore, an optical disc or a magnetic disc, a semiconductor memory, or the like recording medium in which a control program having the technical features is recorded is also included in the structure of the present application. The control program in this case is an automatic travel control program for a field working machine, and causes a computer to execute: a path setting function of setting a travel path for an unworked area inside a field compared to an outer peripheral area; a travel control function of controlling travel of a machine body so as to travel along the travel path; a detection function of detecting at least one of an orientation and a position of the machine body; a determination function of determining whether or not the machine body can enter in a manner of traveling along the travel path when the machine body enters the unworked area from the outer peripheral area, based on a detection result of the detection function; and a change function of changing a condition for determining whether or not the machine body can enter in a manner of traveling along the travel path by the determination function when entering the unworked area, according to an operation of an operation member operated by a person. The control program is characterized in that the travel control function is configured to cause the machine body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again, when the determination function determines that the machine body cannot enter in a manner of traveling along the travel path.

[0030] In the present application, it is preferable that a plurality of indexes of different kinds are included in the condition, and that a condition storage section that stores a plurality of the conditions is provided, and that the change section selects the condition corresponding to the operation of the operation member from among the plurality of conditions if the operation member is operated by a person.

[0031] If a plurality of indexes are included in the condition, it is necessary to set the plurality of indexes in balance. However, in the case of a structure in which the plurality of indexes are directly changed by a manager of a field or an operator of a machine body, the change operation becomes complicated for the manager of the field or the operator of the machine body. According to the present structure, the manager of the field or the operator of the machine body is able to select a desired condition from among a plurality of conditions stored in the condition storage section by operating the operation member. Thus, even if the manager of the field or the operator of the machine body does not directly change the plurality of indexes, the change of the condition can be easily performed. Thus, the change of the condition becomes easy for the manager of the field or the operator, and the structure of the change section is user-friendly.

[0032] In the present application, it is preferable that the detection unit is configured to detect a first state in which the body is located at a position a certain distance ahead of a start point of the travel path to be entered and a second state in which the body is located at the start point, the determination unit is configured to determine whether the body can enter in a manner of traveling along the travel path in the first state and the second state, respectively, and is configured to use different conditions at the time of determination in the first state and the time of determination in the second state, the condition used in the first state being set to a value on the side that is less likely to perform the retry travel than the condition used in the second state.

[0033] For example, when the body turns around, if the orientation or position of the body greatly deviates from a predetermined one, the orientation or position of the body after the turn around is completed also has a high possibility of becoming a state of greatly deviating from the travel path, and if the retry travel is performed from this state, it takes time for the body to travel along the travel path. Therefore, according to the present configuration, the retry travel is performed in a state in which the body is located at a position a certain distance ahead of the start point of the travel path. That is, compared with a configuration in which determination is made by the determination unit only at the time of determination in the second state, the posture of the body can be re-established at an earlier stage. In addition, the condition used in the first state is set to a value on the side that is less likely to perform the retry travel than the condition used in the second state. Therefore, unnecessary retry travel when the orientation or position of the body does not greatly deviate from the predetermined path, for example, at the time of turn around of the body, is avoided.

[0034] In the present application, it is preferable that the condition used in the first state is a fixed value, and the changing unit changes the condition used in the second state in accordance with the operation of the operation member.

[0035] According to the present configuration, the changing of the condition becomes easy for the manager or operator of the field, and the structure of the changing unit is more user-friendly.

[0036] In the present application, it is preferable that a harvesting device that performs a harvesting operation on a field and a harvesting control unit that controls the driving of the harvesting device are provided, the harvesting control unit stops the harvesting device when the body is in the first state and drives the harvesting device when the body is in the second state.

[0037] If the harvesting device is driven in the second state, the harvesting operation when the body enters the unoperated area from the outer peripheral area is smoothly performed. However, if the harvesting device is driven at the start of the retry travel, it can also cause damage to the harvest of the field, and therefore, it is necessary to stop the harvesting device. According to the present configuration, because the harvesting control unit stops the harvesting device when the body is in the first state, the retry travel can be quickly performed in a state in which the first area in which the harvesting operation is not needed is stopped without the need for the harvesting operation.

[0038] In this invention, preferably, the harvesting control unit starts driving the harvesting device during the transition of the machine body from the first state to the second state.

[0039] Based on this structure, harvesting operations can be carried out smoothly when the machine body moves from the outer perimeter area into the unworked area. Attached Figure Description

[0040] Figure 1 This is a left-side view of a combine harvester.

[0041] Figure 2 It is a diagram showing a vehicle driving around in a field.

[0042] Figure 3 It is a diagram showing the harvest journey along the driving path.

[0043] Figure 4 It is a block diagram representing the structure related to the control unit.

[0044] Figure 5 It is a diagram showing the first and second states of the organism.

[0045] Figure 6 It is a diagram representing the inward state of an organism.

[0046] Figure 7 It is a diagram representing the outward state of an organism.

[0047] Figure 8 It is a graph representing multiple conditions and the position offset threshold and orientation offset threshold contained in the conditions.

[0048] Figure 9 This is a flowchart illustrating the decision-making process related to retry driving. Detailed Implementation

[0049] [The overall structure of a combine harvester]

[0050] Embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 As shown, a conventional combine harvester 1 (equivalent to the "body" of this invention) includes a tracked traveling device 11, a driver's unit 12, a threshing device 13, a grain bin 14, a harvesting device H, a conveying device 16, a grain discharge device 18, a satellite positioning module 80, and an engine E. It should be noted that... Figure 1 The direction of the arrow "F" shown is set to "front of the aircraft". Figure 1 The direction of the arrow "B" shown is set to "rear of the aircraft". Figure 1 The arrow "U" shown is set to point "up". Figure 1The direction of the arrow "D" shown is set as "downward". Also, in the case of indicating left and right, the right hand side in the state facing the front of the machine body is set as "right" and the left hand side is set as "left". The same applies to the following description relating to front and back, up and down, left and right.

[0051] The traveling device 11 is provided in the lower portion in the combine harvester 1. Also, the traveling device 11 is driven by power from the engine E. Further, the combine harvester 1 is capable of self-propelling by the traveling device 11.

[0052] Also, the driver's section 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The operator who monitors the work of the combine harvester 1 is able to ride in the driver's section 12. Note that the operator can also monitor the work of the combine harvester 1 from outside the combine harvester 1.

[0053] The grain discharge device 18 is provided above the grain tank 14. Also, the satellite positioning module 80 is installed to the upper surface portion of the cabin 10 which covers the driver's section 12. Note that in order to complement the satellite navigation based on the satellite positioning module 80, the inertial measurement device 81 (refer to Figure 4 ) in which a gyro acceleration sensor or a magnetic azimuth sensor is incorporated is incorporated in the satellite positioning module 80. Of course, the inertial measurement device 81 can also be disposed in the combine harvester 1 at a position different from the satellite positioning module 80.

[0054] The harvesting device H is provided in the front portion of the combine harvester 1. Also, the conveyance device 16 is provided to the rear side with respect to the harvesting device H. The harvesting device H has the reaping device 15 and the reel 17.

[0055] The reaping device 15 reaps the standing grain in the field. Also, the reel 17 gathers the standing grain which is the object of harvesting while being rotationally driven. According to this structure, the harvesting device H harvests the grain in the field. Further, the combine harvester 1 is capable of harvesting travel in which the standing grain in the field is reaped by the reaping device 15 while traveling by the traveling device 11.

[0056] The reaped grain stalks by the reaping device 15 are conveyed by the conveyance device 16 to the threshing device 13. In the threshing device 13, the reaped grain stalks are subjected to threshing processing. The grain obtained by the threshing processing is stored in the grain tank 14. The grain stored in the grain tank 14 is discharged to the outside of the machine as necessary by the grain discharge device 18.

[0057] Also, as shown in Figure 1As shown, the communication terminal 4 is provided in the driver's section 12. The communication terminal 4 has a touch panel type monitor, is configured to be able to display various information, and is configured to be able to perform various setting operations. Note that the communication terminal 4 can have a button type switch or a dial type switch, or the like, in addition to the touch panel type monitor. In the present embodiment, the communication terminal 4 is fixed to the driver's section 12. However, the present application is not limited to this, and the communication terminal 4 can be configured to be detachable with respect to the driver's section 12, or the communication terminal 4 can be located outside the combine harvester 1. The touch panel type monitor in the communication terminal 4, the above-described illustrated button type switch, and the dial type switch, or the like, correspond to the "operation member" of the present application.

[0058] 〔Harvesting operation by combine harvester〕

[0059] Reference Figure 2 and Figure 3 The harvesting operation in the field by the combine harvester 1 will be described. Figure 2 and Figure 3 An example in which the shape of the field is rectangular is shown. First, as shown in Figure 2 , the initial circumferential travel is performed in the region on the outer periphery side in the field in a manner of encircling along the boundary line of the field. The region that becomes a worked field by this initial circumferential travel is set as the outer peripheral region SA, and the unworked field inside the outer peripheral region SA is set as the work target region CA.

[0060] When the standing crop in the work target region CA is harvested by automatic travel, the outer peripheral region SA is used as a space for the combine harvester 1 to perform direction conversion. In addition, the outer peripheral region SA is also used as a space for performing movement to the discharge parking position PP adjacent to the transport vehicle CV, movement to a refueling site.

[0061] In order to ensure the width of the outer peripheral region SA to some extent, the initial circumferential travel is performed for about 2 to 3 rounds. The initial circumferential travel can be performed by manual travel or by automatic travel.

[0062] After the initial circumferential travel, the standing crop in the work target region CA is harvested by automatic travel.

[0063] In this automatic travel, as shown in Figure 2 and Figure 3 , the automatic harvesting travel of harvesting the standing crop while automatically traveling on the harvesting travel path LI (an example of a travel path) set in the work target region CA, and the turning travel performed between one automatic harvesting travel and the next automatic harvesting travel are repeatedly performed. The turning travel is automatic travel on the turning travel path TN that connects between two harvesting travel paths LI.

[0064] [Structure of the automatic driving control system]

[0065] like Figure 4 As shown, the automatic driving control system 2 includes a control unit 20, a satellite positioning module 80, and an inertial measurement unit 81. It should be noted that the combine harvester 1 also includes the control unit 20. Furthermore, the power output from the engine E is input to the driving device 11 and the harvesting device H, respectively.

[0066] The satellite positioning module 80 receives signals from artificial satellites (GS) used in GNSS (Global Navigation Satellite System, such as GPS, QZSS, Galileo, GLONASS, BeiDou, etc.). Furthermore, as... Figure 4 As shown, the satellite positioning module 80 sends positioning data representing the position of the combine harvester 1 to the vehicle position calculation unit 21A based on the received signal.

[0067] The inertial measurement unit 81 detects the angular velocity of the yaw angle and the acceleration in the three mutually orthogonal axes of the combine harvester 1 over time. The detection results of the inertial measurement unit 81 are sent to the vehicle orientation calculation unit 21B.

[0068] The control unit 20 includes a detection unit 21, a region calculation unit 22, a path calculation unit 23 (path setting unit), and a driving control unit 25. The detection unit 21 detects the orientation and position of the combine harvester 1. The detection unit 21 includes a vehicle position calculation unit 21A, a vehicle orientation calculation unit 21B, and a deviation calculation unit 21C.

[0069] The vehicle position calculation unit 21A 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 then sent to the area calculation unit 22 and the deviation calculation unit 21C.

[0070] The vehicle orientation calculation unit 21B receives the position coordinates of the combine harvester 1 from the vehicle position calculation unit 21A. Furthermore, the vehicle orientation calculation unit 21B calculates the attitude orientation of the combine harvester 1 based on the detection results of the inertial measurement device 81 and the position coordinates of the combine harvester 1.

[0071] More specifically, firstly, while the combine harvester 1 is moving, the vehicle orientation calculation unit 21B calculates the initial attitude orientation based on the current position coordinates of the combine harvester 1 and the position coordinates of the combine harvester 1 at the previously reached location. Next, if the combine harvester 1 travels for a certain period of time after calculating the initial attitude orientation, the vehicle orientation calculation unit 21B calculates the change in attitude orientation by integrating the angular velocity detected by the inertial measurement device 81 during that period of travel.

[0072] Furthermore, by adding the calculated change in attitude orientation to the initial attitude orientation, the vehicle orientation calculation unit 21B updates the attitude orientation calculation result. Then, at regular intervals, the change in attitude orientation is calculated similarly, and the attitude orientation calculation result is updated sequentially. The attitude orientation of the combine harvester 1 calculated by the vehicle orientation calculation unit 21B is sent to the deviation calculation unit 21C.

[0073] When the combine harvester 1 travels along the harvesting path LI, the deviation calculation unit 21C receives information related to the harvesting path LI from the path calculation unit 23, and calculates the position offset Wd and azimuth offset θd of the combine harvester 1 relative to the harvesting path LI based on the calculation results of the vehicle position calculation unit 21A and the vehicle orientation calculation unit 21B. That is, the deviation calculation unit 21C calculates the azimuth offset θd of the combine harvester 1 relative to the extension direction of the harvesting path LI, and the position offset Wd of the combine harvester 1 relative to the harvesting path LI in a direction orthogonal to the extension direction.

[0074] The regional calculation unit 22 calculates the position coordinates of the combine harvester 1 over time based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21A. Figure 2 The diagram shows the outer perimeter area SA and the work target area CA. More specifically, the area calculation unit 22 calculates the travel trajectory of the combine harvester 1 as it circles the outer perimeter of the field based on the time-varying position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21A. Furthermore, based on the calculated travel trajectory of the combine harvester 1, the area on the outer perimeter of the field where the combine harvester 1 harvests grain while circling is defined as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area closer to the inner edge of the field than the calculated outer perimeter area SA as the work target area CA. For example, in... Figure 2 In the diagram, arrows indicate the travel path of the combine harvester 1, which travels around the outer perimeter of the field. As described above, the combine harvester 1 makes three circumferential passes. Furthermore, once the harvesting along this path is completed, the field becomes... Figure 3 The state shown.

[0075] The area calculation unit 22 calculates the area around the outer perimeter of the field as the combine harvester 1 harvests grain and travels around it as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area closer to the inner edge of the field than the calculated outer perimeter area SA as the target area CA. The target area CA corresponds to the "unoperated area" of this invention. Furthermore, as... Figure 4 As shown, the calculation results of the area calculation unit 22 are sent to the path calculation unit 23 and the driving control unit 25.

[0076] like Figure 2 andFigure 3 As shown, the path calculation section 23 sets the harvesting travel path LI in the work target region CA and the turning travel path TN in the outer peripheral region SA based on the calculation result received from the region calculation section 22. The harvesting travel path LI corresponds to the "travel path" of the present application. That is, the path calculation section 23 sets the travel path for the work target region CA inside the field relative to the outer peripheral region SA. Note that in the illustrated example, a plurality of harvesting travel paths LI parallel to the short side of the work target region CA and a plurality of harvesting travel paths LI parallel to the long side are calculated. In addition, the harvesting travel path LI can not be a straight line but can be curved.

[0077] In this way, the path calculation section 23 calculates the harvesting travel path LI through the work target region CA. The harvesting travel path LI and the turning travel path TN set by the path calculation section 23 are transmitted to the travel control section 25 and the harvesting control section 30.

[0078] Note that the path calculation section 23 is configured to be able to receive a signal from the communication terminal 4. For example, if the grain discharge button (not shown) of the communication terminal 4 is operated, a travel path from the harvesting travel path LI or the turning travel path TN to the discharge parking position PP and a return path from the discharge parking position PP to the harvesting travel path LI are set by the path calculation section 23.

[0079] As described above, the communication terminal 4 has a monitor of a touch panel type that is operated by a person, is configured to be able to display various information, and is configured to be able to perform various setting operations. Details will be described later, but the communication terminal 4 is provided with a change section 4a that is configured to be able to change in accordance with a person's operation of inputting a determination mode related to a retry travel described later to the touch panel of the communication terminal 4. In other words, the change section 4a changes a condition for determining whether the combine harvester 1 is able to enter along the harvesting travel path LI when entering the work target region CA in accordance with an operation of the monitor of the touch panel type.

[0080] The travel control section 25 is configured to be able to control the travel device 11. Furthermore, the travel control section 25 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation section 21A, the calculation result received from the region calculation section 22, and the harvesting travel path LI received from the path calculation section 23. Specifically, as shown in Figure 2 and Figure 3 As shown, the travel control section 25 controls the travel of the combine harvester 1 so that the combine harvester 1 travels along the harvesting travel path LI.

[0081] The user (including the operator, hereinafter the same) starts automatic travel along the harvesting travel paths LI and the turning travel paths TN by pressing an automatic travel start button (not shown). Details are described later, but in the automatic travel, in a case where the combine harvester 1 cannot enter the work target area CA from the outer peripheral area SA in a manner along the harvesting travel paths LI, the travel control section 25 controls retry travel. The retry travel refers to travel in which the combine harvester 1 temporarily stops and backs up, and then advances again toward the harvesting travel paths LI.

[0082] In Figure 2 and Figure 3 the example shown, first, as the harvesting travel paths LI parallel to the four sides of the rectangular work target area CA, the travel control section 25 sets the harvesting travel paths LI1, LI2, LI3, and LI4 as the paths of travel. The path calculation section 23 calculates the turning travel paths TN1, TN2, and TN3 for α-turn travel. The α-turn travel is performed by an advance in the direction extending along the harvesting travel path LI before, a back-up travel including a turning travel, and an advance in the direction extending along the harvesting travel path LI next.

[0083] The travel control section 25 controls the travel device 11 so that the combine harvester 1 automatically travels in the order of the harvesting travel path LI1, the turning travel path TN1, the harvesting travel path LI2, the turning travel path TN2, the harvesting travel path LI3, the turning travel path TN3, and the harvesting travel path LI4. Thereby, as shown in Figure 2 , the automatic travel becomes spiral-shaped travel.

[0084] If the worked area on the field outer peripheral side is expanded by the spiral-shaped automatic travel of the combine harvester 1, and becomes a state in which automatic travel based on U-turn turning is possible, the travel control section 25 sets the harvesting travel paths LI5, LI6, LI7, and LI8 as the paths of travel. The path calculation section 23 calculates the turning travel paths TN4, TN5, and TN6 for U-turn travel. The travel control section 25 controls the travel device 11 so that the combine harvester 1 automatically travels in the order of the harvesting travel path LI5, the turning travel path TN4, the harvesting travel path LI6, the turning travel path TN5, the harvesting travel path LI7, the turning travel path TN6, and the harvesting travel path LI8.

[0085] In Figure 3 , the U-turn travel is performed by an advance travel including a turning travel alternately on the two harvesting travel paths LI parallel to the two sides of the rectangular work target area CA opposite each other, and on the two harvesting travel paths LI. The U-turn travel is performed only by an advance travel including a turning travel.

[0086] The automatic travel based on the α-turn travel is performed in a case where the width of the outer peripheral area SA is narrow and the automatic travel based on the U-turn travel is difficult to perform. In a case where the width of the outer peripheral area SA is large enough and the automatic travel based on the U-turn travel can be performed, the automatic travel based on the U-turn travel can be performed without performing the automatic travel based on the α-turn travel.

[0087] The harvesting control section 30 performs drive control of the harvesting device H based on the information of the harvesting travel path LI and the turning travel path TN transmitted from the path calculation section 23. In a state where the combine harvester 1 automatically travels along the harvesting travel path LI, the harvesting control section 30 lowers the harvesting device H and performs drive control of the cutting device 15 or the reel 17 or the like. In a state where the combine harvester 1 automatically travels along the turning travel path TN, the harvesting control section 30 raises the harvesting device H and stops the cutting device 15 or the reel 17 or the like.

[0088] [About retry travel]

[0089] The combine harvester 1 performs the automatic travel based on the α-turn travel or the U-turn travel toward the next harvesting travel path LI after the harvesting travel along one harvesting travel path LI is finished. However, at the end of the α-turn travel or the U-turn travel, a case where the combine harvester 1 is laterally shifted with respect to the next harvesting travel path LI or is azimuthally shifted with respect to the extension direction of the next harvesting travel path LI is considered. If the automatic travel is performed in a state where the position shift or the azimuthal shift with respect to the next harvesting travel path LI is large, it is considered that the combine harvester 1 laterally snakes with respect to the harvesting travel path LI and cutting residues can be generated in the field. Therefore, in the present embodiment, the travel control section 25 is configured to be able to control the retry travel.

[0090] In Figure 4 The control section 20 shown in FIG. 1 is provided with a determination section 27 and a condition storage section 29. The determination section 27 determines whether the combine harvester 1 can enter in a manner of following the harvesting travel path LI based on the detection result of the detection section 21 when the combine harvester 1 enters the work target area CA from the outer peripheral area SA. When the determination section 27 determines that the combine harvester 1 cannot enter in a manner of following the harvesting travel path LI, an instruction signal of the retry travel is transmitted from the determination section 27 to the travel control section 25. Further, the travel control section 25 is configured to cause the combine harvester 1 to perform the retry travel in accordance with the instruction signal. The condition storage section 29 stores conditions for determining whether the combine harvester 1 can enter in a manner of following the travel path when the combine harvester 1 enters the work target area CA. A plurality of conditions are stored in the condition storage section 29. Different indexes are included in the conditions. The plurality of conditions respectively have the position shift threshold Wt and the azimuthal shift threshold θt as different kinds of indexes.

[0091] As Figure 5 shown, the determination section 27 performs determination processing at two places before starting automatic harvesting travel along the next harvesting travel path LI. Specifically, the determination section 27 determines whether the combine harvester 1 can enter in a manner along the harvesting travel path LI at a place apart by a certain distance Dl from the start point of the next harvesting travel path LI and the start point of the next harvesting travel path LI. In Figure 5 particular, the start point of the next harvesting travel path LI is indicated by the second retry determination position P2, and the place apart by the certain distance Dl from the start point of the next harvesting travel path LI is indicated by the first retry determination position PI. The second retry determination position P2 is a position at which the combine harvester 1 is to enter the work target area CA from the outer peripheral area SA. The detection section 21 is configured to detect a state in which the combine harvester 1 is positioned at the first retry determination position PI (hereinafter, referred to as "first state") and a state in which the combine harvester 1 is positioned at the second retry determination position P2 (hereinafter, referred to as "second state").

[0092] The certain distance Dl is set to 1 m, for example. The first retry determination position PI is positioned on the turning travel path TN. The turning travel path TN at this time can be the turning travel path TNl, TN2, TN3 for a-turn travel, or the turning travel path TN4, TN5, TN6 for U-turn turning. In Figure 5 the case where the turning travel path TN shown in FIG. 6 is the turning travel path TNl, TN2, TN3 for a-turn travel, Figure 5 the turning travel path TN shown in FIG. 7 is shown as a path for entering the next harvesting travel path LI by forward travel after reverse travel.

[0093] At the first retry determination position PI, the combine harvester 1 performs turning travel along the turning travel path TN toward the next harvesting travel path LI. At the first retry determination position PI, the harvesting device H is lowered, but it can also be a structure in which the harvesting device H is not lowered at the first retry determination position PI. In addition, at the first retry determination position PI, the reaping device 15 and the reel 17 are not driven. That is, at the first retry determination position PI, the combine harvester 1 performs turning travel in a state in which work by the harvesting device H is not performed. At the first state, the combine harvester 1 is positioned at a position apart by the certain distance Dl from the second retry determination position P2.

[0094] At the second retry determination position P2, the combine harvester 1 starts automatic travel along the next harvesting travel path LI. At the second retry determination position P2, the harvesting device H is lowered, and the reaping device 15 and the reel 17 are in the driven state. Note that the harvesting control section 30 causes the harvesting device H to start driving during the period from the state in which the combine harvester 1 is positioned at the first retry determination position PI to the state in which the combine harvester 1 is positioned at the second retry determination position P2.

[0095] If retry travel is performed at the second retry determination position P2, it is necessary to raise the harvesting device H after stopping the driving of the reaping device 15 and the reel 17. In addition, if the reaping device 15 cuts the roots of the crops, it is necessary to gather the crops with the reel 17, and therefore, retry travel takes time. On the other hand, at the first retry determination position PI, even if the harvesting device H is lowered, because the reaping device 15 and the reel 17 are in the undriven state, it is possible to perform retry travel by merely raising the harvesting device H.

[0096] In the case where retry travel is necessary at the first retry determination position PI, even if proceeding as is, it is not possible to reestablish the posture of the combine harvester 1, and in the case where retry travel is necessary at the second retry determination position P2, there are many cases. Therefore, according to the present embodiment, by performing retry travel at the first retry determination position PI, compared with a configuration in which retry travel is performed only at the second retry determination position P2, it is possible to quickly perform retry travel, and the time necessary for the entire retry travel is shortened.

[0097] In this way, the determination section 27 is configured to determine whether or not the combine harvester 1 is able to enter in such a manner as to travel along the harvesting travel path LI in the first state and the second state. In addition, the harvesting control section 30 is configured to stop the harvesting device H in the first state, and to drive the harvesting device H in the second state.

[0098] By the deviation calculation section 21C, the positional deviation amount Wd of the combine harvester 1 with respect to the lateral direction of the travel path and the azimuth deviation amount θd of the combine harvester 1 with respect to the travel path, as shown in Figure 6 and Figure 7 are calculated.

[0099] The conditions for determining whether the combine harvester 1 can enter along the travel path include a first condition that the position offset Wd is greater than a certain position offset threshold Wt, and a second condition that the azimuth offset θd is greater than a certain azimuth offset threshold θt. The determination unit 27 is configured to select, one by one, the position offset threshold Wt and the azimuth offset threshold θt stored in the condition storage unit 29, based on the detection result of the deviation calculation unit 21C. Furthermore, the determination unit 27 is configured to determine that the combine harvester 1 cannot enter the work target area CA along the harvest travel path LI if at least one of the following conditions is met: the position offset Wd is greater than the position offset threshold Wt (first condition), and the azimuth offset θd is greater than the azimuth offset threshold θt (second condition).

[0100] The position offset threshold Wt and orientation offset threshold θt vary according to the position and orientation of combine harvester 1. Figure 8 In the diagram, W1 to W6 are represented as position offset thresholds Wt, and θ1 to θ6 are represented as azimuth offset thresholds θt. During the determination in the first state, the determination unit 27 sets the position offset threshold Wt to ​​W1 or W2, and the azimuth offset threshold θt to θ1 or θ2. During the determination in the second state, the determination unit 27 sets the position offset threshold Wt to ​​any one of W3 to W6, and the azimuth offset threshold θt to any one of θ3 to θ6. That is, the determination unit 27 is configured to use different conditions during the determination in the first state and the determination in the second state.

[0101] The position offset thresholds Wt(W1, W2) selected during the determination in the first state are set to be larger than the position offset thresholds Wt(W3~W6) selected during the determination in the second state. Figure 8 In this context, W1 is set to be greater than W3 and W5, respectively, and W2 is set to be greater than W4 and W6, respectively. Furthermore, the azimuth offset thresholds θt(θ1, θ2) selected during the determination in the first state are set to be larger than the azimuth offset thresholds θt(θ3~θ6) selected during the determination in the second state. Figure 8 In this context, θ1 is set to be greater than θ3 and θ5, and θ2 is set to be greater than θ4 and θ6, respectively. That is, the conditions used in the first state are set to values ​​on the side that make it less likely to perform a retry run compared to the conditions used in the second state.

[0102] The selection method of the position offset threshold Wt and orientation offset threshold θt based on the vehicle orientation of the determination unit 27 is explained. Figure 6 This indicates that the combine harvester 1 moves forward in a straight line, getting closer to the harvesting path LI, and the smaller the positional offset Wd becomes. In this embodiment, this... Figure 6The state shown is called the "inward state". In the inward state, if the position of combine harvester 1 is shifted to the left or right relative to the harvesting travel path LI, and the orientation of combine harvester 1 is shifted to the left or right relative to the extension direction of the harvesting travel path LI while traveling straight, then it intersects with the harvesting travel path LI. Furthermore, Figure 7 This indicates that the combine harvester 1 travels further away from the harvesting path LI as it moves straight ahead, and the larger the positional offset Wd becomes. In this embodiment, this... Figure 7 The state shown is called the "outward state". In the outward state, if the position of the combine harvester 1 is shifted to the left or right relative to the harvesting travel path LI and the orientation of the combine harvester 1 is shifted to the left or right relative to the extension direction of the harvesting travel path LI and it travels straight, then it moves away from the harvesting travel path LI. That is, the detection unit 21 is configured to detect the inward state where the combine harvester 1 is shifted in the left or right direction relative to the harvesting travel path LI and the combine harvester 1 is facing the harvesting travel path LI, and the outward state where the combine harvester 1 is shifted in the left or right direction relative to the harvesting travel path LI and the combine harvester 1 is not facing the harvesting travel path LI.

[0103] The values ​​of the position offset threshold Wt and the azimuth offset threshold θt are changed when combine harvester 1 is in an inward-facing state and in an outward-facing state. Figure 6 In the inward-facing state shown, the position offset threshold Wt is set to W1, and the orientation offset threshold θt is set to θ1. When the vehicle's position is at the first retry determination position P1, and the vehicle's orientation relative to the harvested travel path LI is in the inward-facing state, as follows... Figure 6 As shown, the determination unit 27 sets the position offset threshold Wt to ​​W1 and the orientation offset threshold θt to θ1. When the vehicle position is at the second retry determination position P2 and the vehicle orientation is inward relative to the harvest driving path LI, the determination unit 27 sets the position offset threshold Wt to ​​W3 or W5 and the orientation offset threshold θt to θ3 or θ5.

[0104] exist Figure 7 In the outward-facing state shown, the position offset threshold Wt is set to W2, and the orientation offset threshold θt is set to θ2. That is, when the vehicle's position is at the first retry determination position P1, and the vehicle's orientation relative to the harvested travel path LI is in an outward-facing state, as... Figure 7As shown, the determination unit 27 sets the position offset threshold Wt to ​​W2 and the orientation offset threshold θt to θ2. When the vehicle's position is at the second retry determination position P2 and the vehicle's orientation is outward relative to the harvest driving path LI, the determination unit 27 sets the position offset threshold Wt to ​​W4 or W6 and the orientation offset threshold θt to θ4 or θ6. That is, the determination unit 27 selects different position offset thresholds Wt and θt for inward and outward states, respectively.

[0105] Thus, the determination unit 27 is configured to determine whether the combine harvester 1 can enter the work target area CA by following the harvesting travel path LI, regardless of whether the combine harvester 1 is in an inward or outward state.

[0106] If the combine harvester 1 is positioned outwards relative to the harvesting path LI, the further it advances, the greater the positional offset Wd becomes. Therefore, compared to the inward position, the necessity for retrying the journey increases. Thus, the positional offset thresholds Wt (W2, W4, W6) selected in the outward position are set smaller than those selected in the inward position (W1, W3, W5). Furthermore, the positional offset thresholds θt (θ2, θ4, θ6) selected in the outward position are set smaller than those selected in the inward position (θ1, θ3, θ5). Figure 8 In this context, W2 is set to be smaller than W1, and θ2 is set to be smaller than θ1. Additionally, in... Figure 8 In this configuration, W4 is set to be smaller than W3, W6 is set to be smaller than W5, θ4 is set to be smaller than θ3, and θ6 is set to be smaller than θ5. Thus, the conditions used when combine harvester 1 is in the inward-facing state are set to values ​​that make retrying the operation less likely compared to the conditions used when combine harvester 1 is in the outward-facing state. Furthermore, regardless of whether combine harvester 1 is in the inward-facing or outward-facing state, the conditions used in the first state are set to values ​​that make retrying the operation less likely compared to the conditions used in the second state.

[0107] In this embodiment, the configuration allows for the manual modification of the position offset threshold Wt and azimuth offset threshold θt at the second retry determination position P2. Specifically, as follows... Figure 8 The configuration allows for setting a "standard mode" and a "lenient mode" as determination modes related to retry driving. In this embodiment, the determination mode can be changed manually via the change unit 4a of the communication terminal 4. As described above, the communication terminal 4 has a touch panel monitor that can display a selection screen for the determination mode.

[0108] On the selection screen of the determination mode, "standard mode" and "lenient mode" are displayed, and the user can select one of "standard mode" and "lenient mode". That is, the changing section 4a of the communication terminal 4 is configured to be able to select a plurality of determination modes to be set. In other words, the changing section 4a of the communication terminal 4 is configured to be able to change the index of the condition for determining whether the combine harvester 1 is able to enter the work target region CA in a manner following the harvesting travel path LI in a plurality of stages. Further, the determination section 27 selects the position offset threshold Wt and the orientation offset threshold θt corresponding to the selected set determination mode among a plurality of position offset thresholds Wt and a plurality of orientation offset thresholds θt.

[0109] W5 is set to be larger than W3, and W6 is set to be larger than W4. In addition, θ5 is set to be larger than θ3, and θ6 is set to be larger than θ4. That is, in the "lenient mode", a large position offset amount Wd and a large orientation offset amount θd are allowed compared to the case of the "standard mode", and thus, it is less likely to perform retry travel. Considering that there are users who feel bothered if retry travel is frequently performed, in such a case, by setting the determination mode to the "lenient mode", the user's bother is reduced.

[0110] Further, in the present embodiment, W1 is set to be larger than W3 and W5, respectively, and W2 is set to be larger than W4 and W6, respectively. In addition, θ1 is set to be larger than θ3 and θ5, respectively, and θ2 is set to be larger than θ4 and θ6, respectively. The changing section 4a of the communication terminal 4 changes the position offset threshold Wt (W3 to W6) to be used in the first state to a value smaller than the position offset threshold Wt (W1, W2) to be used in the second state. In addition, the changing section 4a of the communication terminal 4 changes the orientation offset threshold θt (θ3 to θ6) to be used in the second state to a value smaller than the orientation offset threshold θt (θ1, θ2) to be used in the first state.

[0111] That is, the position offset threshold Wt and the orientation offset threshold θt to be used in the first state are set to be larger than the position offset threshold Wt and the orientation offset threshold θt to be used in the second state. Thereby, in the first state, the determination of retry travel is performed in a condition that is more lenient than the case of the second state, and the possibility of accidentally performing frequent retry travel in the first state is reduced.

[0112] If a plurality of indexes such as the position offset threshold Wt or the azimuth offset threshold θt are included in the condition, the plurality of indexes need to be set equitably. However, in a case where the manager of the field or the operator of the machine directly changes the structure of the plurality of indexes, the change operation becomes complicated for the manager of the field or the operator of the machine. In the present embodiment, the change part 4a is configured so as not to be able to change the position offset threshold Wt and the azimuth offset threshold θt used in the first state, and so as to be able to change the position offset threshold Wt and the azimuth offset threshold θt used in the second state in the "standard mode" and the "lenient mode". That is, the condition used in the first state is a fixed value, and the change part 4a of the communication terminal 4 changes the condition used in the second state according to the operation of the monitor. Thereby, compared with a structure in which the change part 4a is able to change the position offset threshold Wt and the azimuth offset threshold θt in the first state and the second state, respectively, the user can easily operate the change part 4a without considering a complicated combination of the determination modes. Thereby, the change of the condition becomes easy for the manager of the field or the operator, and the structure of the change part 4a is user-friendly. Note that the change part 4a can also be a structure that is able to change the condition used in the first state according to the operation of the monitor which is a touch panel type operation member.

[0113] Based on Figure 9 The determination processing of the determination part 27 will be described. Based on the branching processing of Step #02 to Step #06, the values of the position offset threshold Wt and the azimuth offset threshold θt are set to different values in Step #11 to Step #16, respectively.

[0114] First, the host vehicle position and the host vehicle azimuth are acquired by the host vehicle position calculation part 21A and the host vehicle azimuth calculation part 21B (Step #01). Then, it is determined whether the host vehicle position is the first retry determination position P1 or the second retry determination position P2 (Step #02). Figure 9

[0115] If the host vehicle position is the first retry determination position P1 (Step #02: P1), the determination part 27 determines whether the host vehicle azimuth is the inward state or the outward state with respect to the harvesting travel path LI (Step #03). Then, if the host vehicle azimuth is the inward state (Step #03: inward state), the position offset threshold Wt is set to W1 and the azimuth offset threshold θt is set to θ1 (Step #11). In addition, if the host vehicle azimuth is the outward state (Step #03: outward state), the position offset threshold Wt is set to W2 and the azimuth offset threshold θt is set to θ2 (Step #12).

[0116] If the host vehicle position is the second retry determination position P2 (Step #02: P2), the determination part 27 determines whether the host vehicle azimuth is the inward state or the outward state with respect to the harvesting travel path LI (Step #04).​

[0117] If the self-vehicle orientation is the inward state (Step #04: Inward State) and the determination mode is the "standard mode" (Step #05: Standard Mode), the position offset threshold Wt is set to W3 and the orientation offset threshold θt is set to θ3 (Step #13). Also, if the self-vehicle orientation is the inward state (Step #04: Inward State) and the determination mode is the "lenient mode" (Step #05: Lenient Mode), the position offset threshold Wt is set to W4 and the orientation offset threshold θt is set to θ4 (Step #14).

[0118] If the self-vehicle orientation is the outward state (Step #04: Outward State) and the determination mode is the "standard mode" (Step #06: Standard Mode), the position offset threshold Wt is set to W5 and the orientation offset threshold θt is set to θ5 (Step #15). Also, if the self-vehicle orientation is the outward state (Step #04: Outward State) and the determination mode is the "lenient mode" (Step #06: Lenient Mode), the position offset threshold Wt is set to W6 and the orientation offset threshold θt is set to θ6 (Step #16).

[0119] Also, it is determined whether the position offset amount Wd is equal to or less than the position offset threshold Wt (Step #21), and it is determined whether the orientation offset amount θd is equal to or less than the orientation offset threshold θt (Step #22). That is, if the position offset amount Wd is within the range of the position offset threshold Wt (Step #21: Yes) and the orientation offset amount θd is within the range of the orientation offset threshold θt (Step #22: Yes), the travel control section 25 controls the combine harvester 1 to travel along the travel path (Step #23). Also, if at least one of the position offset amount Wd and the orientation offset amount θd is outside the range of the threshold (Step #21: No, Step #22: No), the travel control section 25 starts control of retry travel (Step #24).

[0120] The harvesting control section 30 stops the harvesting device H if retry travel is performed in the second state. The travel control section 25 controls the travel of the combine harvester 1 after the harvesting device H is stopped when controlling retry travel. Note that because the harvesting device H is stopped in the case where the combine harvester 1 is in the first state, the travel control section 25 is able to control retry travel as is. That is, regardless of whether the combine harvester 1 is in the inward state or the outward state, the harvesting control section 30 stops the harvesting device H when the combine harvester 1 is in the first state, and drives the harvesting device H when the combine harvester 1 is in the second state. Also, regardless of whether the combine harvester 1 is in the inward state or the outward state, the harvesting control section 30 starts driving the harvesting device H during the period in which the combine harvester 1 transitions from the first state to the second state.

[0121] [Other Embodiments]

[0122] The present application is not limited to the structure exemplified in the above-described embodiment, and representative other embodiments of the present application will be exemplified below.

[0123] (1) In the above-described embodiment, the position offset threshold Wt and the orientation offset threshold θt are included in the condition as different kinds of multiple indexes, but the embodiment is not limited thereto. For example, a threshold of a speed or a threshold of an acceleration, a threshold of a unit time change amount of the orientation offset can be included in the condition.

[0124] (2) In the above-described embodiment, the determination section 27 is configured to determine that the combine harvester 1 cannot enter in the manner of following the harvesting travel path LI when entering the work target region CA if at least one of the first condition that the position offset amount Wd is larger than the position offset threshold Wt and the second condition that the orientation offset amount θd is larger than the orientation offset threshold θt is satisfied, but the embodiment is not limited thereto. For example, the determination section 27 can be configured to determine that the combine harvester 1 cannot enter in the manner of following the harvesting travel path LI when entering the work target region CA if both the first condition and the second condition are satisfied.

[0125] (3) In the above-described embodiment, the condition used in the first state is set to a value on the side that retry travel is less likely to be performed compared to the condition used in the second state, but the embodiment is not limited thereto. For example, the condition used in the first state and the condition used in the second state can be the same condition.

[0126] (4) In the above-described embodiment, the position offset threshold Wt and the orientation offset threshold θt used in the inward state are set to values larger than the position offset threshold Wt and the orientation offset threshold θt used in the outward state, but the embodiment is not limited thereto. For example, it can be that only the position offset threshold Wt used in the inward state is set to a value larger than the position offset threshold Wt used in the outward state, and the orientation offset threshold θt is set to the same value in the inward state and the outward state. Also, it can be that only the orientation offset threshold θt used in the inward state is set to a value larger than the orientation offset threshold θt used in the outward state, and the position offset threshold Wt is set to the same value in the inward state and the outward state.

[0127] (5) In the above-described embodiment, the position offset threshold value Wt and the orientation offset threshold value θt used in the first state are set to values larger than the position offset threshold value Wt and the orientation offset threshold value θt used in the second state, but the embodiment is not limited to this. For example, it can be that only the position offset threshold value Wt used in the first state is set to a value larger than the position offset threshold value Wt used in the second state, and the orientation offset threshold value θt used in the first state is set to a value identical to the orientation offset threshold value θt used in the "standard mode" or the "lenient mode" of the second state. Further, it can be that only the orientation offset threshold value θt used in the first state is set to a value larger than the orientation offset threshold value θt used in the second state, and the position offset threshold value Wt used in the first state is set to a value identical to the position offset threshold value Wt used in the "standard mode" or the "lenient mode" of the second state.

[0128] (6) Figure 6 and Figure 7 The harvesting travel path LI illustrated in FIG. 6 can also be a turning travel path TN. Further, the turning travel path TN can be included in the travel path of the present application. In this case, the deviation calculating section 21C can also calculate the orientation offset amount θd of the combine harvester 1 with respect to the turning travel path TN and the position offset amount Wd of the combine harvester 1 with respect to the turning travel path TN.

[0129] Note that the structure disclosed in the above-described embodiment (including other embodiments, the same hereinafter) can be applied in combination with the structure disclosed in other embodiments as long as no contradiction arises. Further, the embodiments disclosed in the present specification are examples, and the embodiments of the present application are not limited thereto, and can be appropriately changed within a range not departing from the object of the present application.

[0130] Industrial Applicability

[0131] The present application can be applied to an automatic travel control system of a field working machine that automatically travels along a travel path. Therefore, the technical features of the present application can be applied not only to various harvesters such as a full-feed combine harvester, a half-feed combine harvester, a corn harvester, a sugar cane harvester, a soybean harvester, a green soybean harvester, a root vegetable harvester (e.g., a carrot harvester or a radish harvester), and the like, but also to field working machines such as a rice transplanter, a tractor, a management machine, and the like. Therefore, the above-described embodiments can be configured as field working machines. Furthermore, the technical features of the automatic travel control system of the present application can be applied to a control method. Therefore, the above-described embodiments can be configured as an automatic travel control method. Furthermore, the technical features of the automatic travel control system of the present application can be applied to a control program. Therefore, the above-described embodiments can be configured as an automatic travel control program. Furthermore, an optical disc or a magnetic disc, a semiconductor memory, or the like, on which a control program having the technical features is recorded, is also included in the configuration of the above-described embodiments.

[0132] BRIEF DESCRIPTION OF DRAWINGS

[0133] 1 combine harvester (machine body)

[0134] H harvesting device

[0135] 2 automatic travel control system

[0136] 4 communication terminal (operation member)

[0137] 4a change portion

[0138] 21 detection portion

[0139] 21C deviation calculation portion

[0140] 23 path setting portion

[0141] 25 travel control portion

[0142] 27 determination portion

[0143] 29 condition storage portion

[0144] 30 harvesting control portion

[0145] CA work target area (non-work area)

[0146] D1 certain distance

[0147] LI harvesting travel path (travel path)

[0148] P1 first retry determination position (position that is a certain distance before a start point of the travel path)

[0149] P2 second retry determination position (start point of the travel path)

[0150] sa outer peripheral region

[0151] wd position offset

[0152] wt position offset threshold

[0153] θd azimuth offset

[0154] θt azimuth offset threshold

Claims

1. An automatic travel control system comprising: a path setting section that sets a travel path for an unworked area inside a field relative to an outer peripheral area; a travel control section that controls travel of a machine body so that the machine body travels along the travel path; a detection section that detects an orientation and a position of the machine body; a determination section that determines whether the machine body can enter the unworked area in a manner of traveling along the travel path, based on a detection result of the detection section when the machine body enters the unworked area from the outer peripheral area, wherein the travel control section is configured to cause the machine body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again, when the determination section determines that the machine body cannot enter in the manner of traveling along the travel path, wherein the detection section is configured to detect an inward state in which the machine body is positionally offset in a left-right direction with respect to the travel path and the machine body is oriented toward the travel path, and an outward state in which the machine body is positionally offset in the left-right direction with respect to the travel path and the machine body is not oriented toward the travel path, and wherein the determination section is configured to change a condition for determining whether the machine body can enter the unworked area in the manner of traveling along the travel path, depending on whether the machine body is in the inward state or the outward state.

2. The automatic travel control system according to claim 1, wherein the condition used when the machine body is in the inward state is set to a value on a side on which the retry travel is less likely to be performed, as compared to the condition used when the machine body is in the outward state, in the determination section.

3. The automatic travel control system according to claim 1 or 2, wherein the detection section includes a deviation calculation section that calculates an azimuth offset amount of the machine body with respect to an extension direction of the travel path, and a position offset amount of the machine body with respect to the travel path in a direction orthogonal to the extension direction, wherein the condition includes a first condition in which the position offset amount is greater than a certain position offset threshold value, and a second condition in which the azimuth offset amount is greater than a certain azimuth offset threshold value, and wherein the determination section is configured to determine that the machine body cannot enter the unworked area in the manner of traveling along the travel path, if at least one of the first condition and the second condition is satisfied.

4. The automatic travel control system according to claim 1 or 2, wherein the detection section is configured to detect a first state in which the machine body is located at a position a certain distance from a start point of the travel path to be entered, and a second state in which the machine body is located at the start point, wherein the determination section is configured to determine whether the machine body can enter the unworked area in the manner of traveling along the travel path, in the first state and in the second state, respectively, and is configured to use different conditions at the time of determination in the first state and at the time of determination in the second state, and wherein the condition used in the first state is set to a value on a side on which the retry travel is less likely to be performed, as compared to the condition used in the second state, regardless of whether the machine body is in the inward state or the outward state. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. The automatic travel control system according to claim 4, wherein the harvester is provided with a harvesting device that performs a harvesting operation on a field and a harvesting control section that controls driving of the harvesting device, the harvesting control section stops the harvesting device when the machine body is in the first state and drives the harvesting device when the machine body is in the second state, regardless of whether the machine body is in the inward state or the outward state.

6. The automatic travel control system according to claim 5, wherein the harvesting control section starts driving the harvesting device during a period in which the machine body transitions from the first state to the second state, regardless of whether the machine body is in the inward state or the outward state.

7. A field working machine capable of automatic traveling, wherein, provided with: a path setting section that sets a travel path for an unoperated area inside a field relative to an outer peripheral area; a travel control section that controls travel of a machine body so that the machine body travels along the travel path; a detection section that detects an orientation and a position of the machine body; a determination section that determines, based on a detection result of the detection section, whether the machine body can enter the unoperated area in a manner of traveling along the travel path when the machine body enters the unoperated area from the outer peripheral area, the travel control section is configured to perform retry travel in which the machine body temporarily stops and retreats and advances toward the travel path again when the determination section determines that the machine body cannot enter in the manner of traveling along the travel path, the detection section is configured to detect an inward state in which the machine body is positionally offset in a left-right direction relative to the travel path and the machine body is oriented toward the travel path and an outward state in which the machine body is positionally offset in the left-right direction relative to the travel path and the machine body is not oriented toward the travel path, the determination section is configured to change a condition for determining whether the machine body can enter the unoperated area in the manner of traveling along the travel path when the machine body enters the unoperated area, according to whether the machine body is in the inward state or the outward state.

8. An automatic travel control method of a field working machine capable of automatic travel, wherein provided with: a path setting step of setting a travel path for an unoperated area inside a field relative to an outer peripheral area; a travel control step of controlling travel of a machine body so that the machine body travels along the travel path; a detection step of detecting an orientation and a position of the machine body; a determination step of determining, based on a detection result of the detection step, whether the machine body can enter the unoperated area in a manner of traveling along the travel path when the machine body enters the unoperated area from the outer peripheral area, the travel control step is executed in which the machine body temporarily stops and retreats and advances toward the travel path again when it is determined in the determination step that the machine body cannot enter in the manner of traveling along the travel path, in the detection step, an inward state in which the machine body is positionally offset in a left-right direction relative to the travel path and the machine body is oriented toward the travel path and an outward state in which the machine body is positionally offset in the left-right direction relative to the travel path and the machine body is not oriented toward the travel path are detected, in the determination step, a condition for determining whether the machine body can enter the unoperated area in the manner of traveling along the travel path when the machine body enters the unoperated area is changed, according to whether the machine body is in the inward state or the outward state. In the determination step, a condition for determining whether the body can enter along the travel path is changed depending on whether the body is in the inward state or the outward state.

9. An automatic travel control program product, the automatic travel control program being an automatic travel control program of a field working machine, which causes a computer to execute the following functions: a travel path setting function of setting a travel path for an unworked area inside a peripheral area in a field; a travel control function of controlling travel of a body so that the body travels along the travel path; a detection function of detecting an orientation and a position of the body; a determination function of determining whether the body can enter along the travel path when the body enters the unworked area from the peripheral area, based on a detection result of the detection function, wherein when the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again, the detection function is configured to detect an inward state in which the body is positionally offset in left and right directions with respect to the travel path and the body is oriented toward the travel path, and an outward state in which the body is positionally offset in the left and right directions with respect to the travel path and the body is not oriented toward the travel path, the determination function is configured to change a condition for determining whether the body can enter along the travel path when the body enters the unworked area, depending on whether the body is in the inward state or the outward state.

10. A recording medium recording an automatic travel control program of a field working machine capable of automatic travel, wherein a program which causes a computer to execute the following functions: a travel path setting function of setting a travel path for an unworked area inside a peripheral area in a field; a travel control function of controlling travel of a body so that the body travels along the travel path; a detection function of detecting an orientation and a position of the body; a determination function of determining whether the body can enter along the travel path when the body enters the unworked area from the peripheral area, based on a detection result of the detection function, when the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform retry travel of temporarily stopping and retreating, and advancing toward the travel path again, the detection function is configured to detect an inward state in which the body is positionally offset in left and right directions with respect to the travel path and the body is oriented toward the travel path, and an outward state in which the body is positionally offset in the left and right directions with respect to the travel path and the body is not oriented toward the travel path, the determination function is configured to change a condition for determining whether the body can enter along the travel path when the body enters the unworked area, depending on whether the body is in the inward state or the outward state.

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