Travel method, travel program, and travel system

Abstract

Provided are a travel method, a travel program, and a travel system with which it is possible to automatically travel a work vehicle on an appropriate route. The setting processing unit (112) sets a path reference point for the combine (1) on the basis of the direction of travel when the combine (1) starts automatic travel. The travel processing unit (113) causes the combine (1) to travel automatically in accordance with a target route generated on the basis of a reference line set in the field and the route reference point.

Description

Technical Field

[0001] The present invention relates to a technology for enabling a work vehicle to automatically travel in a work area. Background Art

[0002] In the past, there is a known system for automatically driving a work vehicle along a pre-generated target path in a field. For example, the system generates a baseline based on an operation performed by a worker, and automatically drives the work vehicle along the target path corresponding to the generated baseline (for example, see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2022-087958

[0004] However, in the prior art, since the automatic driving is started by generating a target path that passes through the current position of the work vehicle (the reference position for driving) and is parallel to the reference line, there is a problem that the work vehicle drives at a position that deviates from the path desired by the operator (see Fig. 10A and Fig. 10B ). Summary of the invention

[0005] An object of the present invention is to provide a driving method, a driving program, and a driving system that enable a work vehicle to automatically drive on an appropriate path.

[0006] The driving method of the present invention is a method for making a work vehicle drive automatically based on a reference line. The driving method performs: setting a path reference point for the work vehicle based on the direction of travel of the work vehicle when the work vehicle starts to drive automatically; and making the work vehicle drive automatically according to a target path generated based on the reference line and the path reference point.

[0007] The driving program involved in the present invention is a program for making a work vehicle automatically drive based on a reference line. The driving program is a program for causing one or more processors to execute: setting a path reference point for the work vehicle based on the direction of travel when the work vehicle starts to drive automatically; and making the work vehicle automatically drive according to a target path generated based on the reference line and the path reference point.

[0008] The driving system involved in the present invention is a system for automatically driving a work vehicle based on a reference line, and comprises a setting processing unit and a driving processing unit. The setting processing unit sets a path reference point for the work vehicle based on the travel direction of the work vehicle when the work vehicle starts to drive automatically. The driving processing unit causes the work vehicle to automatically drive according to a target path generated based on the reference line and the path reference point.

[0009] According to the present invention, it is possible to provide a driving method, a driving program, and a driving system that can cause a work vehicle to automatically drive on an appropriate route. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a functional block diagram showing the configuration of a travel system according to an embodiment of the present invention.

[0011] Figure 2 It is an external appearance side view which shows the structure of the combine harvester which concerns on embodiment of this invention.

[0012] Figure 3 It is an external appearance plan view showing the structure of the combine harvester according to the embodiment of the present invention.

[0013] Figure 4A This is a diagram showing an example of a target route set in a field according to an embodiment of the present invention.

[0014] Figure 4B This is a diagram showing an example of a target route set in a field according to an embodiment of the present invention.

[0015] Figure 5 This is a diagram showing an example of a work procedure of the combine harvester according to the embodiment of the present invention.

[0016] Figure 6 It is a figure which shows the structure of the operating device provided in the combine harvester which concerns on embodiment of this invention.

[0017] Fig. 7A This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the embodiment of the present invention.

[0018] Figure 7B This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the embodiment of the present invention.

[0019] Figure 7C This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the embodiment of the present invention.

[0020] Fig.7D This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the embodiment of the present invention.

[0021] Fig. 7E This is a diagram showing an example of a method for generating a reference line of a combine harvester according to the embodiment of the present invention.

[0022] Figure 8This is a diagram showing an example of a method for generating a target route for a combine harvester according to an embodiment of the present invention.

[0023] Fig. 9 It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention.

[0024] Fig. 10A This is a diagram showing an example of a conventional traveling method of a combine harvester.

[0025] Fig. 10B This is a diagram showing an example of a conventional traveling method of a combine harvester.

[0026] Fig.11A It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention.

[0027] Fig. 11B It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention.

[0028] Fig.12 It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention in reverse traveling.

[0029] Fig.13 It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention in reverse traveling.

[0030] Fig.14 It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention in reverse traveling.

[0031] Fig.15 It is a figure which shows an example of the traveling method of the combine harvester which concerns on embodiment of this invention in reverse traveling.

[0032] Fig.16 This is a flowchart showing an example of the procedure of a travel process executed by the travel system according to the embodiment of the present invention.

[0033] Fig.17 This is a flowchart showing another example of the procedure of the driving process executed by the driving system according to the embodiment of the present invention.

[0034] Fig.18A It is a diagram showing an example of a traveling method of a combine harvester according to another embodiment of the present invention.

[0035] Fig.18BIt is a diagram showing an example of a traveling method of a combine harvester according to another embodiment of the present invention.

[0036] Description of Reference Numerals

[0037] 1…Combine harvester (working vehicle, harvesting vehicle); 2…Traveling unit; 3…Harvesting unit; 91…Main gear lever (driving direction switching operating member); 11…Control device; 30…Operating device; 111…Driving processing unit; 112…Setting processing unit; 113…Generation processing unit; F…Field; R…Target path; L…Baseline; C1…Driving reference point; P1…Path reference point. DETAILED DESCRIPTION

[0038] The following embodiment is an example of embodying the present invention and does not limit the technical scope of the present invention.

[0039] The driving system involved in the embodiment of the present invention includes a combine harvester 1, a satellite (not shown) and a base station (not shown). The combine harvester 1 is an example of a working vehicle of the present invention. The working vehicle of the present invention is not limited to the combine harvester 1, and may also be a tractor, a rice transplanter, a construction machine or a snowplow.

[0040] The combine harvester 1 performs a predetermined operation (e.g., harvesting operation) while traveling along a target path R in a field F (see FIG. 4 ) according to the operation of a worker (operator). Specifically, the combine harvester 1 automatically travels on a target path R (e.g., a straight working path) in a working area in the field F according to automatic steering, and manually travels in a non-working area in the field F according to manual steering (driving operation) performed by the worker. The combine harvester 1 travels in the field F while switching between automatic travel in the working area and manual travel in the non-working area to perform the operation. The target path R may be generated in advance based on the operation of the worker and stored as path data.

[0041] In addition, in the present embodiment, automatic driving means that the combine harvester 1 drives while controlling (automatic steering) the steering amount (steering angle) in a manner along the target path R. When the combine harvester 1 is driving automatically, the operator can operate the main gear lever to switch the vehicle speed (driving speed) and the driving direction (forward direction and backward direction). In addition, when the operator performs a stop operation (pressing the stop switch, steering operation of the steering wheel, etc.) while the combine harvester 1 is driving automatically according to the target path R, the automatic driving of the combine harvester 1 can be stopped. In this way, the combine harvester 1 of the present embodiment is configured to perform only automatic steering (steering control processing) during automatic driving, and the switching processing of the vehicle speed and the driving direction and the stop processing are performed according to the operation of the operator. As other embodiments, the combine harvester 1 can also be configured to automatically perform each of the automatic steering, the switching processing of the vehicle speed and the driving direction, and the stop processing without being related to the operation of the operator.

[0042] exist Figure 4A and Figure 4B FIG. 1 shows an example of a target path R set for a field F. The combine harvester 1 performs harvesting operations while automatically traveling along the target path R in the field F. Figure 4A As shown in FIG. 1 , if a path (parallel line) parallel to the reference line L1 is set as the target path R1, the combine harvester 1 automatically travels in the vertical direction in the field F according to the set target path R1. Figure 4B As shown, if a path (parallel line) parallel to the baseline L2 is set as the target path R2, the combine harvester 1 automatically travels in the field F along the left and right directions in the figure according to the set target path R2. In addition, in the following description, when there is no need to distinguish between the target paths R1 and R2, it is referred to as "target path R". The baselines L1 and L2 are generated, for example, based on the starting point A and the end point B registered at any position in the field F. In addition, one of the baselines L1 and L2 can also be generated based on the starting point A and the end point B, and an orthogonal line orthogonal to the baseline of one side is generated as the baseline of the other side. In addition, the target path R for the automatic driving of the combine harvester 1 is not limited to a straight path, but can also be a curved path. For example, when a straight baseline L is generated, a straight target path R is generated, and when a curved baseline L is generated, a curved target path R is generated.

[0043] use Figure 5 An example of the operation procedure of the combine harvester 1 will be described. The combine harvester 1 is harvesting in the field F, for example, while following the target paths R1 and R2 (see Figure 4A and Figure 4B) is automatically driven while performing harvesting operations. For example, the combine harvester 1 automatically drives according to the target paths R1 and R2 when traveling straight, and manually drives according to the manual steering operation of the operator when turning. Here, the combine harvester 1 performs harvesting operations ("circular harvesting" and "reciprocating harvesting") while traveling from the outer peripheral side to the inner peripheral side from the starting position S to the ending position G. First, when the combine harvester 1 starts to automatically drive at the starting position S, it drives along the outer periphery of the field F while harvesting the grain stalks. In addition, when the combine harvester 1 threshes the harvested grain stalks, waste straw such as straw chips are discharged to the outside from the rear of the machine body. As a result, waste straw B1 is accumulated on the driving trace of the combine harvester 1, forming a waste straw row on the path where the combine harvester 1 completes the harvesting operation. In addition, the combine harvester 1 is configured to discharge the waste straw of the harvested grain stalks at the position of the grain stalks to be harvested, and is configured to be able to grasp the position, width (lateral width of the waste straw row in the left-right direction), length, etc. of the waste straw B1. For example, the waste straw B1 is discharged with a width narrower than the lateral width of the machine body, with the center of the left-right direction of the combine harvester 1 as a reference. For example, the combine harvester 1 goes around the peripheral area F1 twice. In this case, two turns of the waste straw row are formed. In addition, the number of turns around the peripheral area F1 is not limited to two, and can also be one turn or three turns or more.

[0044] When the combine harvester 1 completes the harvesting operation in the outer peripheral area F1, it enters the inner peripheral area F2 and starts the harvesting operation in the inner peripheral area F2. In the inner peripheral area F2, the combine harvester 1 performs the harvesting operation while driving straight in the vertical direction, and does not perform the harvesting operation in the left and right directions, but moves between the operation paths by turning and driving straight in the outer peripheral area F1 (operation completion area, harvested area). The combine harvester 1 performs the harvesting operation in the inner peripheral area F2, and when it reaches the end position G, it ends the automatic driving and harvesting operation.

[0045] As described above, the combine harvester 1 moves in the field F along the target path R1 (see FIG. 1 ) corresponding to the reference line L1 in the vertical direction. Figure 4A ) automatically drives while harvesting, while moving in the left and right directions according to the target path R2 (reference Figure 4B ) while performing harvesting operations. In addition, the combine harvester 1 can be automatically driven when driving straight, and can be manually driven according to the manual steering operation of the operator when driving around. For example, the combine harvester 1 can also automatically drive in the forward direction on a straight path (operation path) while performing harvesting operations, stop the harvesting operations and automatically drive in the backward direction on the operation completion path (operation path). In addition, the combine harvester 1 can also be manually driven by the manual steering operation of the operator when moving between operation paths.

[0046] In addition, the driving system may also include an operating terminal (tablet terminal, smart phone, etc.) for operators to operate. The above-mentioned operating terminal can communicate with the combine harvester 1 via a communication network such as a mobile phone line network, a packet line network, and a wireless LAN. For example, the operator performs operations such as registering various information (operating vehicle information, field information, operation information, etc.) on the above-mentioned operating terminal. In addition, the operator can grasp the driving status and operating status of the combine harvester 1 based on the driving trajectory displayed on the above-mentioned operating terminal at a place far away from the combine harvester 1. The above-mentioned operating terminal can also be mounted on the combine harvester 1.

[0047] [Combine Harvester 1]

[0048] Figure 2 The figure shows the external appearance of the combine harvester 1 as seen from the side. Figure 3 1 shows the appearance of the combine harvester 1 as viewed from above. Figure 1 to Figure 3 As shown, the combine harvester 1 includes a travel section 2, a harvesting section 3, a threshing section 4, a screening section 5, a storage section 6, a waste straw processing section 7, a power section 8, an operating section 9, a main gear lever 91, an operating device 30, a control device 11, a storage section 51, a positioning unit 52, a detection section 53, a communication section 54, and the like. The combine harvester 1 travels through the travel section 2, while harvesting rice straws using the harvesting section 3, threshing the harvested rice straws using the threshing section 4, screening the grains using the screening section 5, and storing the grains in the storage section 6. In addition, the combine harvester 1 processes the waste straws after threshing through the waste straw processing section 7. The combine harvester 1 drives the travel section 2, the harvesting section 3, the threshing section 4, the screening section 5, the storage section 6, and the waste straw processing section 7 using the power supplied by the power section 8.

[0049] The travel unit 2 is provided below the body frame 12, and includes a transmission (not shown) and a pair of left and right crawler travel devices 23. The travel unit 2 rotates the crawler of the crawler travel device 23 using the power (e.g., rotational power) transmitted from the engine 20 of the power unit 8, thereby causing the combine harvester 1 to travel in the front-rear direction or turn in the left-right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler travel device 23, and can also change the speed of the rotational power.

[0050] The harvesting section 3 is an operating machine that operates on the operating object, i.e., the field F. It is disposed in front of the traveling section 2 and harvests the grain stalks of a specified harvesting width in an area (uncut area) having uncut grain stalks, which is an unoperated area of ​​the field F. The harvesting section 3 includes a straw divider 13, a gathering wheel 14, a cutting knife 15, a gathering screw pusher 16, a feeding chamber 17, and a conveyor 18. In addition, the harvesting section 3 includes a rotation detection section (not shown) that detects the rotation speed (operation speed) of the rotation operation for the harvesting operation. The above-mentioned rotation detection section is composed of, for example, a rotation sensor that detects the rotation speed of the gathering wheel 14, the rotation speed of the gathering screw pusher 16, the rotation speed of the conveyor 18, and the like.

[0051] The straw divider 13 is protruding forward from the left front end and the right front end of the harvesting section 3 to guide the uncut grain stalks into the harvesting width. The pulling wheel 14 is arranged behind the straw divider 13 and is arranged to be rotatable around a rotation axis extending in the left-right direction. The pulling wheel 14 assists in the harvesting of the grain stalks guided by the straw divider 13, so by driving it to rotate, it is possible to pull up the grain stalks while pulling the tip side of the ear of the grain stalks. The cutter 15 is arranged below the pulling wheel 14 to cut the root side of the grain stalks pulled by the pulling wheel 14 to harvest the grain stalks.

[0052] The pulling screw 16 is arranged behind the pulling wheel 14 and the cutter 15 and is rotatable about a rotation axis extending in the left-right direction. The pulling screw 16 is driven to rotate, thereby pulling together the grain stems harvested by the cutter 15 and conveying them backward.

[0053] The feeding chamber 17 extends forward from the body frame 12 and is arranged behind the gathering screw pusher 16, and is supported by the body frame 12 in a manner that it can be raised and lowered. In addition, the straw divider 13, the gathering wheel 14, the cutter 15 and the gathering screw pusher 16 are raised and lowered by the feeding chamber 17, that is, the harvesting section 3 is raised and lowered.

[0054] The combine harvester 1 is provided with a lifting device 19 on the fuselage frame 12 for lifting the feeding chamber 17 and lifting the harvesting section 3, so that the harvesting section 3 is in the working position (see Figure 2 The lifting device 19 is composed of, for example, a hydraulic cylinder that receives power from an engine 20 and operates.

[0055] The conveyor 18 is rotatably provided in the feeding chamber 17, and moves along with the raising and lowering of the feeding chamber 17. The conveyor 18 is driven to rotate, and conveys the grain stems conveyed into the feeding chamber 17 by the gathering screw 16 further backward to the threshing part 4.

[0056] The threshing section 4 is arranged behind the feeding chamber 17 of the harvesting section 3, and threshes the rice straw conveyed from the feeding chamber 17. The threshing section 4 is provided with a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes the grains from the rice straw conveyed from the feeding chamber 17, and conveys the threshed rice straw, i.e., the waste straw, to the waste straw processing section 7. The receiving net 22 supports the rice straw conveyed by the threshing drum 21, and allows the grains to fall through the sieve.

[0057] The screening section 5 is provided below the threshing section 4. The screening section 5 includes a swing screening device 24, an air supply screening device 25, a grain conveying device (not shown), and a straw scraps discharging device (not shown). The swing screening device 24 screens the threshed material falling from the threshing section 4 into grains and straw scraps, etc. The air supply screening device 25 further screens the threshed material falling from the threshing section 4 and the threshed material screened by the swing screening device 24 into grains and straw scraps, etc. by air supply. The grain conveying device conveys the grains screened by the swing screening device 24 and the air supply screening device 25 to the storage section 6. The straw scraps discharging device discharges straw scraps, etc. other than the grains screened by the swing screening device 24 and the air supply screening device 25 to the outside of the machine.

[0058] The storage section 6 is provided on the right side of the threshing section 4. The storage section 6 includes a storage box (grain box) 27 and a grain discharge device 28. The storage box 27 stores the grains conveyed from the screening section 5. The grain discharge device 28 is configured to have a discharge screw pusher, etc., to perform a grain discharge operation, and discharge the grains stored in the storage box 27 to a transport vehicle at a preset discharge position.

[0059] The waste straw processing unit 7 is provided at the rear of the threshing unit 4. The waste straw processing unit 7 includes, for example, a waste straw conveying device (not shown) and a waste straw cutting device (not shown). The waste straw processing unit 7 conveys the waste straw conveyed from the threshing unit 4 to the waste straw cutting device through the waste straw conveying device, and discharges the waste straw to the rear of the combine harvester 1 after being cut by the waste straw cutting device (see FIG. Figure 5 ).

[0060] The power unit 8 is provided above the traveling unit 2 and below the storage unit 6. The power unit 8 includes an engine 20 that generates a rotary power. The power unit 8 transmits the rotary power generated by the engine 20 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the screening unit 5, the storage unit 6, and the waste straw processing unit 7. In addition, the combine harvester 1 includes a fuel tank that stores fuel supplied to the engine 20 of the power unit 8.

[0061] The control unit 9 is provided above the power unit 8. The control unit 9 includes a steering wheel for instructing the turning of the combine harvester 1, and a main gear lever 91 (see FIG. 1 ) for changing the speed of the combine harvester 1 when it moves forward or backward and switching the driving direction (forward direction, backward direction) around a driver's seat 40 where an operator sits. Figure 3 ) and a sub-shift lever, etc., as operating members for operating the travel of the combine harvester 1. The manual travel of the combine harvester 1 is performed by the travel unit 2 that accepts the operation of the steering wheel, the main shift lever 91, and the sub-shift lever of the operating unit 9. In addition, the operating unit 9 has a mechanism for operating the harvesting operation based on the harvesting unit 3, the threshing operation based on the threshing unit 4, the discharge operation of the grain discharge device 28 based on the storage unit 6, etc. In addition, the operating unit 9 has an operating device 30 (refer to Figure 3 ) The operating device 30 is operated by an operator who is on the combine harvester 1 .

[0062] The positioning unit 52 uses a satellite positioning system such as GPS to obtain the vehicle position of the combine harvester 1. For example, the positioning unit 52 receives a positioning signal from a positioning satellite via a positioning antenna, and obtains the position information of the positioning unit 52 based on the positioning signal, that is, the vehicle position (measurement point data) of the combine harvester 1. The positioning unit 52 may also be composed of a quantum compass instead of a positioning antenna.

[0063] The communication unit 54 is a communication interface for connecting the combine harvester 1 to the communication network N1 by wire or wirelessly, and performing data communication with an external device such as an operation terminal via the communication network N1 in accordance with a predetermined communication protocol.

[0064] The storage unit 51 is a non-volatile storage unit such as a HDD, SSD, or flash memory that stores various information. The storage unit 51 stores information for causing the control device 11 to execute the driving process described later (see Fig.16 and Fig.17 ) and other control programs. For example, the driving program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 51. In addition, the driving program can also be downloaded from a server (not shown) to the combine harvester 1 via the communication network N1 and stored in the storage unit 51. In addition, the storage unit 51 stores various setting information obtained from the operating device 30.

[0065] The detection unit 53 is a sensor that detects a detection object within a predetermined detection range using infrared rays, ultrasonic waves, or the like. For example, the detection unit 53 may be a laser radar sensor (distance sensor) that can three-dimensionally measure the distance to a measurement object (detection object) using lasers, or may be a nanosensor having multiple nanometers that can measure the distance to a measurement object using ultrasonic waves. In addition, the nanosensor may also be a structure that does not have a distance measurement function.

[0066] The control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary memory for various processes performed by the CPU. In addition, the control device 11 controls the combine harvester 1 by executing various control programs pre-stored in the ROM or the storage unit 51 by the CPU.

[0067] Next, refer to Figure 6 The structure of the operating device 30 will be described. The operating device 30 is installed near the steering wheel, for example, so that the operator sitting in the driver's seat can operate it (see Figure 3 The operating device 30 includes an automatic driving instruction unit 31, an automatic driving display unit 32, a plurality of reference line operating units 33, a plurality of reference line display units 34, a starting point setting unit 35, an end point setting unit 36, a starting point setting display unit 37, and an end point setting display unit 38.

[0068] The operating device 30 includes a baseline operating unit 33a and a baseline display unit 34a capable of setting a first baseline, and a baseline operating unit 33b and a baseline display unit 34b capable of setting a second baseline. In addition, the operating device 30 may be configured to set only one baseline or to set three or more baselines.

[0069] The automatic driving instruction unit 31 is an operation unit for operating the start instruction of the automatic driving of the combine harvester 1, and is configured to accept a press operation by a circular operation button, etc. When the start condition of the automatic driving is met, the automatic driving instruction unit 31 sends the start instruction of the automatic driving to the control device 11 according to the press operation.

[0070] Furthermore, the automatic driving instruction unit 31 may be capable of being pressed only when the start condition is satisfied, or may be capable of being pressed all the time and the automatic driving start instruction may be sent only when the start condition is satisfied and the pressing operation is performed. Alternatively, the automatic driving instruction unit 31 may be capable of being pressed all the time and the automatic driving start instruction may be sent all the time according to the pressing operation, and the control device 11 may determine that the start instruction is accepted only when the start condition is satisfied.

[0071] The automatic driving display unit 32 is composed of an LED, a lamp, etc., which indicates the state of automatic driving of the combine harvester 1, and is controlled by the control device 11 to display in different display states according to whether the start condition of automatic driving is satisfied. The automatic driving display unit 32 is formed, for example, in a ring shape surrounding the automatic driving indicator unit 31. In addition, in the present embodiment, the automatic driving display unit 32 is separately formed from the automatic driving indicator unit 31, but the automatic driving display unit 32 may also be formed integrally with the automatic driving indicator unit 31.

[0072] For example, if the start condition is not met, the automatic driving display unit 32 is turned off. On the other hand, if the start condition is met, the automatic driving display unit 32 flashes before the start of the automatic driving and is lit during the execution of the automatic driving. In addition, if there are multiple start conditions, the automatic driving display unit 32 can also identifiably display whether each start condition is met, for example, it can also be configured to be divided into multiple parts, each divided part corresponds to each start condition. In addition, the automatic driving display unit 32 can also use other display states to identify the state of automatic driving.

[0073] The plurality of reference line operation units 33 are operation units that accept selection operations of the reference lines, and are configured to accept a press operation by a circular operation button or the like. Each reference line operation unit 33 sends a selection instruction to select the corresponding reference line as an automatic driving target to the control device 11 in response to a selection operation such as a press operation. In addition, each reference line operation unit 33 may send a selection release instruction to release the selection of the corresponding reference line as an automatic driving target to the control device 11 in response to a release operation such as a further press operation.

[0074] For example, when the corresponding baseline is selected as the automatic driving target according to the selection operation of the baseline operation unit 33 and the automatic driving instruction unit 31 is pressed, an automatic driving path (target path) based on the baseline is generated, and the combine harvester 1 is automatically driven along the automatic driving path. In addition, after the baseline corresponding to the baseline operation unit 33 is selected as the automatic driving target according to the selection operation of the baseline operation unit 33, the baseline can be released from the automatic driving target according to the selection release instruction of the baseline operation unit 33.

[0075] The plurality of reference line display units 34 correspond to the plurality of reference lines respectively, and are composed of LEDs, lamps, etc. indicating the state of each reference line, and are controlled by the control device 11 to display in different display states according to the setting state and selection state of each reference line. In addition, the plurality of reference line display units 34 also correspond to the plurality of reference line operating units 33 respectively, and an example in which each reference line display unit 34 and each reference line operating unit 33 are integrally constituted is shown, but in other examples, each reference line display unit 34 may also be separately constituted from each reference line operating unit 33.

[0076] In addition, when the baseline is selected as the automatic driving object, the baseline display unit 34 flashes. At this time, when the baseline is automatically selected according to the vehicle position and the traveling direction of the combine harvester 1, and when the baseline is selected according to the selection operation of the baseline operation unit 33, the baseline display unit 34 may be displayed in different flashing states (for example, different flashing intervals). In addition, before the start and during the automatic driving, the baseline display unit 34 may flash in the same display state, for example, at the same interval, or may flash in different display states, for example, at different intervals.

[0077] The starting point setting unit 35 is an operation unit that accepts the setting operation of the starting point (point A) of each reference line, and is configured to be able to accept a pressing operation by an operation button, etc. The starting point setting unit 35 sends a starting point setting instruction to the control device 11 according to the setting operation such as the pressing operation. At this time, the control device 11 sets the vehicle position of the combine harvester 1 as the starting point of the reference line.

[0078] The end point setting unit 36 ​​is an operation unit that accepts the setting operation of the end point (point B) of each reference line, and is configured to accept a pressing operation by an operation button, etc. The end point setting unit 36 ​​sends an end point setting instruction to the control device 11 according to the setting operation such as the pressing operation. At this time, the control device 11 sets the vehicle position of the combine harvester 1 as the end point of the reference line.

[0079] The starting point setting display unit 37 is composed of an LED, a lamp, etc. that indicates the setting state of the starting point, and is controlled by the control device 11 to display in different display states according to the operation of the starting point setting unit 35. In addition, in the present embodiment, the starting point setting display unit 37 is integrally formed with the starting point setting unit 35, but in other examples, the starting point setting display unit 37 may be separately formed from the starting point setting unit 35.

[0080] The starting point setting display unit 37 is turned off when the starting point setting operation can be performed, that is, when the starting point is not set, and is lit when the starting point setting operation cannot be performed, that is, when the starting point is set.

[0081] The end point setting display unit 38 is composed of an LED, a lamp, etc. that indicates the setting state of the end point, and is controlled by the control device 11 to display in different display states according to the operation of the end point setting unit 36. In addition, in the present embodiment, the end point setting display unit 38 is integrally formed with the end point setting unit 36, but in other examples, the end point setting display unit 38 may be separately formed from the end point setting unit 36.

[0082] The end point setting display unit 38 is turned off when the end point setting operation can be performed, that is, when the end point has not been set, and is lit when the end point setting operation cannot be performed, that is, when the end point has been set.

[0083] In this way, the operating device 30 accepts an operation for generating a reference line and an operation for selecting a reference line when starting automatic driving. As another embodiment, the operating device 30 may omit the reference line operating unit 33 and the reference line display unit 34. In addition, the operating device 30 may also include a display unit (display panel) so that an operation screen corresponding to the reference line operating unit 33 and the reference line display unit 34 is displayed on the display unit. In addition, the operating device 30 may also be composed of the above-mentioned operating terminal (portable terminal) capable of data communication with the combine harvester 1.

[0084] Next, refer to Figure 7A to Figure 7E An example of a method of generating a reference line using the operating device 30 will be described. When generating a first reference line, the operator presses the reference line operating unit 33a of the operating device 30. As a result, the reference line display unit 34a lights up (see Fig. 7A When the operator moves the combine harvester 1 to an arbitrary position (for example, the end) of the field F, he presses the starting point setting unit 35 (see Fig. 7A The control device 11 registers the vehicle position of the combine harvester 1 when the starting point setting unit 35 is pressed as the starting point of the reference line ( Figure 8 When the starting point A is registered, the starting point setting display unit 37 lights up the LED (refer to Figure 7B Then, the operator causes the combine harvester 1 to travel manually, and presses the end point setting unit 36 ​​(see Figure 7C The control device 11 registers the vehicle position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line ( Figure 8 When the destination B is registered, the destination setting display unit 38 and the automatic driving display unit 32 light up their LEDs (see Fig.7D ).

[0085] When registering the starting point A and the end point B, the control device 11 generates a straight line connecting the starting point A and the end point B, and registers the generated straight line as the reference line L (refer to Figure 8 ). The control device 11 stores the generated baseline L in the storage unit 51. In addition, the control device 11 registers (sets) the baseline L in correspondence with the baseline operating unit 33a. In addition, in the present invention, "baseline" can also be a "baseline orientation", and "line" and "orientation" are synonymous. In addition, "orientation" can be specified by direction or by a numerical value. The control device 11 can also generate a reference orientation (numerical value) and store it in the storage unit 51.

[0086] As described above, the control device 11 generates a baseline based on the start point and the end point set in the field F. When the operating device 30 registers a baseline, for example, when the operator presses the baseline operating unit 33a, the start point setting display unit 37 and the end point setting display unit 38 are respectively lit. That is, when the operator presses the baseline operating unit 33a, the start point setting display unit 37 and the end point setting display unit 38 are respectively lit, thereby being able to recognize that the baseline has been registered in the baseline operating unit 33a. In this embodiment, as with the first baseline, the operator can generate a second baseline corresponding to the baseline operating unit 33b. In addition, when the second baseline is not registered, when the operator presses the baseline operating unit 33b, the start point setting display unit 37 and the end point setting display unit 38 are respectively extinguished (refer to Fig. 7E ).

[0087] In the present invention, the method for generating the reference line L is not limited to the above method. For example, the control device 11 may also generate the reference line L (reference azimuth) based on the azimuth (vehicle azimuth) of the combine harvester 1. Specifically, when the operator performs the operation of registering the starting point A (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A, and registers the straight line passing through the starting point A and extending in the direction of the current azimuth (vehicle azimuth) of the combine harvester 1 as the reference line L.

[0088] In addition, as another method, the control device 11 may also generate a reference line L (reference azimuth) based on an azimuth (set azimuth) set by an operator. Specifically, when an operator inputs an angle relative to a reference azimuth (e.g., north azimuth) in a setting screen (not shown) and then performs an operation to register a starting point A (pressing the starting point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the starting point A, and registers a straight line passing through the starting point A and extending in the direction of the input angle (set azimuth) as the reference line L.

[0089] In addition, as another method, when registering the outer shape of the field F, the control device 11 may generate the reference line L (reference orientation) based on any of the outer shape sides of the field F. For example, when registering the outer shape of the rectangular field F, the control device 11 registers, as the reference line L, a straight line parallel to the right side among the left side, right side, top side, and bottom side of the rectangle.

[0090] As described above, the control device 11 can adopt any of the method of generating the reference line L based on the starting point A and the end point B (first generation mode), the method of generating the reference line L based on the starting point A and the vehicle azimuth (second generation mode), the method of generating the reference line L based on the starting point A and the set azimuth (third generation mode), and the method of generating the reference line L based on the outer shape of the field F (fourth generation mode). In addition, the control device 11 can generate the reference line L in the generation mode selected by the operator from the first generation mode to the fourth generation mode, or can generate the first reference line L1 in the generation mode selected based on operation information, etc.

[0091] like Figure 1 As shown, the control device 11 includes various processing units such as a driving processing unit 111, a setting processing unit 112, and a generation processing unit 113. In addition, the control device 11 functions as the various processing units by executing various processes according to the driving program by the CPU. In addition, a part or all of the processing units may also be composed of electronic circuits. In addition, the driving program may also be a program for causing a plurality of processors to function as the processing units.

[0092] The travel processing unit 111 controls the travel of the combine harvester 1. For example, when the travel mode of the combine harvester 1 is manual travel (manual travel mode), the travel processing unit 111 causes the combine harvester 1 to travel manually based on the operation of the operator (manual steering operation). For example, the travel processing unit 111 obtains operation information corresponding to driving operations such as steering wheel operation, gear shift operation, travel direction switching operation, and brake operation performed by the operator, and causes the travel unit 2 to perform a travel action based on the operation information.

[0093] In addition, when the driving mode of the combine harvester 1 is automatic driving (automatic driving mode), the driving processing unit 111 causes the combine harvester 1 to drive automatically based on the position information (positioning information) indicating the current position of the combine harvester 1 located by the positioning unit 52. For example, if the combine harvester 1 meets the start condition of automatic driving and obtains a driving start instruction from the operator, the driving processing unit 111 starts the automatic driving of the combine harvester 1 based on the above positioning information. In addition, the driving processing unit 111 causes the combine harvester 1 to drive automatically according to the target path R generated in advance by the generation processing unit 113.

[0094] For example, if the combine harvester 1 meets the automatic driving start conditions and the operator presses the automatic driving instruction unit 31 of the operating device 30, the driving processing unit 111 obtains the driving start instruction and causes the combine harvester 1 to automatically drive along the target route R (eg, forward route).

[0095] For example, the travel processing unit 111 automatically travels on the target path R based on the travel reference point C1 set for the combine harvester 1. The travel reference point C1 is set, for example, to the turning center of the travel unit 2 of the combine harvester 1 (the center of the crawler travel device 23 (crawler)) (see Figure 8 The travel processing unit 111 controls the travel unit 2 to automatically travel so that the travel reference point C1 of the combine harvester 1 passes through the target route R.

[0096] In addition, the travel processing unit 111 switches the forward and reverse vehicle speed (travel speed) and travel direction (forward direction, reverse direction) according to the operating position of the main gear lever 91. For example, when the operator places the main gear lever 91 in the "forward zone ("F")" position and the combine harvester 1 meets the start conditions for automatic travel, and the operator presses the automatic travel instruction unit 31 to issue a travel start instruction, the travel processing unit 111 causes the combine harvester 1 to start automatic travel in the forward direction. In addition, for example, when the operator places the main gear lever 91 in the "reverse zone ("R")" position and the combine harvester 1 meets the start conditions for automatic travel, and the operator presses the automatic travel instruction unit 31 to issue a travel start instruction, the travel processing unit 111 causes the combine harvester 1 to start automatic travel in the reverse direction. The main gear lever 91 is an example of a travel direction switching operating member of the present invention.

[0097] A specific example of the starting step of automatic driving is described. Here, the case where the target path R is generated by the "vehicle position reference mode" is used as an example for description. First, the control device 11 generates and registers the reference line L by the above method (first generation mode to fourth generation mode). Next, the control device 11 selects the reference line L. For example, when a plurality of reference lines L (for example, reference lines L1 and L2) are registered, the control device 11 selects any one of the reference lines L based on the selection operation of the operator, or the position information of the combine harvester 1, the vehicle orientation, etc. Next, the control device 11 generates a path (for example, a straight path) (parallel line) parallel to the selected reference line L, and sets the generated path as the current position (reference point) of the combine harvester 1. In addition, if the above path is set as the above reference point, for example, when the combine harvester 1 moves by the manual steering operation of the operator, the above path moves in parallel with the reference line L in a manner following the above reference point. Next, the operator manually drives the combine harvester 1 so that the vehicle orientation is within a specified range relative to the above-mentioned path (satisfying the start condition of automatic driving). If the operator presses the automatic driving instruction unit 31 when the combine harvester 1 satisfies the start condition of automatic driving, the control device 11 sets the above-mentioned path at the position at that time as the target path R, and the combine harvester 1 starts automatic driving according to the target path R. In addition, in the above-mentioned process, an icon image imitating the combine harvester 1 and an image of the above-mentioned path (parallel line) parallel to the reference line L can also be displayed on the display screen.

[0098] Other examples of the steps for starting automatic driving are described. For example, similar to the above example, after the control device 11 generates and selects the reference line L, the operator manually drives the combine harvester 1 in such a manner that the vehicle orientation of the combine harvester 1 is within a specified range relative to the reference line L (satisfying the start conditions for automatic driving). Next, if the operator presses the automatic driving indication unit 31 when the combine harvester 1 satisfies the start conditions for automatic driving, the control device 11 generates a path (for example, a straight path) (parallel line) that is parallel to the reference line L and passes through the current position (reference point) of the combine harvester 1, sets the generated path as the target path R, and causes the combine harvester 1 to start automatic driving according to the target path R.

[0099] After the combine harvester 1 starts automatic driving, if the combine harvester 1 reaches the target end position of the work path, the driving processing unit 111 switches the driving mode to manual driving. The driving processing unit 111 can switch the driving mode to manual driving when it is determined that the combine harvester 1 has reached the target end position of the work path, or it can switch the driving mode to manual driving according to the operation of the operator (for example, steering wheel steering operation). If the driving mode is switched to manual driving, for example, the operator makes the combine harvester 1 turn (manual driving) by manual steering operation. In addition, the target end position of each work path is a position that enters the inner side of the end of the field F by a predetermined distance, a position pre-specified by the operator, a position parallel to the position where the operator switched from automatic driving to manual driving in the immediately preceding work completion path (a position where a line perpendicular to the work completion path intersects with the work path through the position switched to manual driving, or a position where a line parallel to the end of the field F intersects with the work path through the position switched to manual driving), a position where a line perpendicular to the baseline intersects with the work path through the end point (point B) of the baseline, and the baseline intersects with the work path, etc. When the combine harvester 1 approaches or reaches the target end position, the control device 11 may notify the operator by voice, display information, etc., to prompt the operator to perform the switching operation to the manual travel.

[0100] In addition, during the harvesting operation, the driving processing unit 111 obtains the vehicle position of the combine harvester 1 (the position of the driving reference point C1) from the positioning unit 52, and controls the driving unit 2, the harvesting unit 3 and the power unit 8 based on the vehicle position and the target path R, so that the combine harvester 1 can automatically drive and perform harvesting operations along the operating path.

[0101] As described above, the travel processing unit 111 switches the travel mode according to, for example, an operation performed by an operator, and causes the combine harvester 1 to perform automatic travel and harvesting work by automatic steering and to perform manual travel by manual steering.

[0102] However, in the prior art, since a target path is generated that passes through the current position (travel reference point) of the combine harvester and is parallel to the reference line and then starts automatic travel, there is a problem that the combine harvester travels at a position that deviates from the path desired by the operator. Fig. 9 As shown in FIG. 1 , when the vehicle orientation of the combine harvester is roughly consistent with the direction of the working path F10 in the working area F11 at the time of starting the automatic driving, the target path R passing through the driving reference point C1 is roughly consistent with the working path F10, so when the automatic driving is started and the harvesting operation is performed, the combine harvester can properly drive and perform the harvesting operation in the working area F11. Fig. 10AAs shown in FIG. 1 , when the vehicle orientation of the combine harvester is offset from the direction of the working path F10 of the working area F11 at the time of starting the automatic driving (when an orientation difference occurs), the target path R passing through the driving reference point C1 deviates from the working path F10. Therefore, when the automatic driving is started and the harvesting operation is performed, as shown in FIG. Fig. 10B As shown in FIG. 1 , the harvesting operation is performed while the vehicle is traveling in an area F12 deviating from the operation area F11 , thereby creating an unoperated area in the operation area F11 .

[0103] Thus, in the prior art, there is a problem that the combine harvester travels at a position deviating from the path desired by the operator. In contrast, as described below, the combine harvester 1 according to the present embodiment has a structure that enables the combine harvester 1 to automatically travel on an appropriate path.

[0104] Specifically, the setting processing unit 112 sets a path reference point P1 for generating the target path R at a position different from the driving reference point C1 for the combine harvester 1. For example, the setting processing unit 112 sets the path reference point P1 for the combine harvester 1 based on the traveling direction when the combine harvester 1 starts automatic driving. The generation processing unit 113 generates the target path R based on the set path reference point P1. For example, the generation processing unit 113 generates a straight line passing through the path reference point P1 and parallel to the reference line L, that is, the target path R. Specifically, the generation processing unit 113 generates a path (parallel line) passing through the path reference point P1 and parallel to the reference line L, and sets the generated path as the target path R.

[0105] For example, Fig.11A As shown, if the operator places the main gear lever 91 in the "forward zone ("F")" position, the setting processing unit 112 sets the path reference point P1 to the front side of the vehicle relative to the driving reference point C1. Specifically, the setting processing unit 112 sets the path reference point P1 to the center (center in the width direction) and front end of the harvesting unit 3. The generation processing unit 113 generates a target path R that passes through the set path reference point P1 and is parallel to the reference line L. When the combine harvester 1 meets the start conditions of automatic driving in a state where the target path R is generated based on the path reference point P1, and the operator presses the automatic driving indication unit 31 to indicate the start of driving, the driving processing unit 111 controls the driving unit 2 to drive automatically in such a way that the driving reference point C1 of the combine harvester 1 passes through the target path R. As a result, Fig.11A and Fig. 11BAs shown in FIG. 1 , even when the vehicle orientation of the combine harvester 1 is offset from the direction of the work path F10 in the work area F11, the combine harvester 1 travels along the target path R passing through the path reference point P1, and thus can travel appropriately in the work area F11 and perform harvesting operations. Fig.11A ), the operator starts automatic driving by aligning the front end of the harvesting section 3 of the combine harvester 1 with the working area F11, thereby enabling the combine harvester to travel on the path desired by the operator (refer to Fig. 11B ).

[0106] As another embodiment, the setting processing unit 112 may set the path reference point P1 in front of the harvesting unit 3. In addition, the setting processing unit 112 may set the path reference point P1 at a position offset in the left-right direction with respect to the width center of the vehicle.

[0107] Here, when the setting processing unit 112 sets the path reference point P1 to the front side of the vehicle relative to the travel reference point C1, when the combine harvester 1 is made to travel backward, the behavior may become unstable. Fig.12 As shown in FIG. 1 , when the combine harvester 1 finishes harvesting work in the work area F11 and moves backward in the work area F11, if the vehicle orientation of the combine harvester 1 is offset from the direction of the work area F11 (the work path F10), the generation processing unit 113 generates a target path R for moving backward based on the path reference point P1 set in the harvesting unit 3. In this case, the driving processing unit 111 performs driving control in such a way that the driving reference point C1 is along the target path R, so as shown in FIG. Fig.12 As shown in FIG. 1 , the combine harvester 1 performs a sudden steering operation (sharp turn) as shown by the path Rs, and the behavior becomes unstable.

[0108] Therefore, the setting processing unit 112 sets the path reference point P1 to the position of the travel reference point C1 when the combine harvester 1 is traveling backward. Fig.13As shown, the target path R is generated based on the driving reference point C1. For example, if the operator places the main gear lever 91 in the "reverse area ("R")" position, the setting processing unit 112 sets the path reference point P1 as the driving reference point C1, and the generation processing unit 113 generates a straight line passing through the path reference point P1 (driving reference point C1) and parallel to the reference line L, that is, the target path R. If the combine harvester 1 meets the start conditions of automatic driving in a state where the target path R is generated based on the path reference point P1, and the operator presses the automatic driving instruction unit 31 to issue a driving start instruction, the driving processing unit 111 controls the driving unit 2 to drive automatically in such a way that the driving reference point C1 of the combine harvester 1 passes through the target path R. As a result, Fig.13 As shown in FIG. 1 , when the combine harvester 1 travels toward the target path R, the turning angle of the path Rs becomes gentle, so the behavior is stable. Fig.13 As shown, when the combine harvester 1 is traveling in reverse, it does not perform harvesting work and travels in an area where harvesting work is completed, so it is not necessary to travel along the working path F10 (see Fig.12 ) as long as it can retreat parallel to the baseline L.

[0109] As another embodiment, the setting processing unit 112 may set the path reference point P1 to be closer to the rear side of the vehicle than the travel reference point C1 when the combine harvester 1 is traveling backward. Fig.14 As shown in FIG. 1 , the setting processing unit 112 sets the path reference point P1 at the center (center in the width direction) and the rear end of the vehicle. The generation processing unit 113 generates a target path R that passes through the set path reference point P1 and is parallel to the reference line L. The driving processing unit 111 controls the driving unit 2 to automatically drive so that the driving reference point C1 of the combine harvester 1 passes through the target path R. As a result, Fig.14 As shown, since the combine harvester 1 travels toward the target route R passing through the route reference point P1, the turning angle of the route Rs becomes gentler, and thus the behavior becomes more stable.

[0110] As another embodiment, the setting processing unit 112 may also set the path reference point P1 behind the rear end of the vehicle. Fig.15 As shown, the setting processing unit 112 may set the path reference point P1 for reverse travel at a position behind the travel reference point C1 by the same distance t1 as the distance t1 from the travel reference point C1 to the path reference point P1 for forward travel.

[0111] In this way, the setting processing unit 112 sets the path reference point P1 for the combine harvester 1 based on the traveling direction when the combine harvester 1 starts automatic driving, and the generation processing unit 113 generates the target path R based on the reference line L and the path reference point P1. Then, the driving processing unit 111 drives the combine harvester 1 automatically so that the driving reference point C1 is along the target path R.

[0112] In addition, when the traveling direction of the combine harvester 1 is the first direction, the setting processing unit 112 sets the path reference point P1 to the first direction side compared to when the traveling direction is the second direction opposite to the first direction. For example, when the traveling direction of the combine harvester 1 is the forward direction, the setting processing unit 112 sets the path reference point P1 to the forward direction (front) compared to when the traveling direction is the backward direction (see Fig.11A and Fig. 11B ). In addition, when the traveling direction of the combine harvester 1 is the backward direction, the setting processing unit 112 sets the path reference point P1 in the backward direction (rearward) compared with the case where the combine harvester 1 is in the forward direction (refer to Figure 13 to Figure 15 ).

[0113] In addition, the setting processing unit 112 sets the path reference point P1 on the moving direction side relative to the travel reference point C1. For example, when the travel direction of the combine harvester 1 is the forward direction, the setting processing unit 112 sets the path reference point P1 on the forward direction side (front) relative to the travel reference point C1 (see Fig.11A and Fig. 11B ). In addition, when the traveling direction of the combine harvester 1 is the backward direction, the setting processing unit 112 may set the path reference point P1 to be closer to the backward direction (behind) than the travel reference point C1 (see Fig.14 and Fig.15 ).

[0114] In addition, the setting processing unit 112 sets the path reference point P1 to the front side or the rear side of the combine harvester 1 based on the state (forward or reverse) of the main gear lever 91 when the combine harvester 1 starts automatic driving. That is, the setting processing unit 112 may determine the setting position of the path reference point P1 based on the position of the main gear lever 91.

[0115] In addition, the travel reference point C1 is set to be constant regardless of the travel direction of the combine harvester 1 (for example, the center position of the turn (the center of the crawler travel device 23 (crawler))). That is, the path reference point P1 used to generate the target path R is set to a position corresponding to the travel direction of the combine harvester 1 (the front or rear of the vehicle), and the travel reference point C1 used to control the position of automatic driving is fixed at a specified position regardless of the travel direction (for example, the center position of the turn (the center of the crawler travel device 23 (crawler))). Thus, the control device 11 generates the target path R based on the path reference point P1 set according to the travel direction of the combine harvester 1, and causes the combine harvester 1 to automatically travel on the target path R based on the travel reference point C1.

[0116] In addition, the control device 11 may display the path reference point P1 on the operation screen of the operation terminal. Thereby, the operator can confirm the path reference point P1 when starting the automatic travel, and thus can properly align the combine harvester 1 with respect to the work path.

[0117] [Driving Process]

[0118] Below, refer to Fig.16 An example of the above-mentioned travel processing executed by the travel system according to the present embodiment will be described.

[0119] In addition, the present invention can be understood as an invention of a driving method that executes one or more steps included in the above-mentioned driving process. In addition, one or more steps included in the above-mentioned driving process described here can also be appropriately omitted. In addition, the steps in the above-mentioned driving process can also be executed in different orders within the scope of producing the same effect. In addition, the case where the control device 11 of the combine harvester 1 executes the steps in the above-mentioned driving process is cited as an example for explanation, but as another embodiment, a driving method in which one or more processors execute the steps in the driving process in a distributed manner can also be considered.

[0120] In step S1, the control device 11 determines whether the traveling direction of the combine harvester 1 is the forward direction. When the traveling direction is the forward direction (S1: Yes), the control device 11 moves the processing to step S2. On the other hand, when the traveling direction is not the forward direction (when it is the reverse direction) (S1: No), the control device 11 moves the processing to step S10. For example, when the main gear lever 91 is in the "forward area ("F")" position, the control device 11 determines that the traveling direction is the forward direction, and when the main gear lever 91 is in the "reverse area ("R")" position, the control device 11 determines that the traveling direction is the reverse direction.

[0121] In step S2, the control device 11 sets the path reference point P1 ahead of the travel reference point C1. For example, the control device 11 sets the path reference point P1 at the center (center in the width direction) of the harvesting section 3 and at the front end (refer to Fig.11A ). After step S2, the control device 11 moves the process to step S3.

[0122] On the other hand, in step S10, the control device 11 sets the path reference point P1 to the rear of the travel reference point C1. For example, the control device 11 sets the path reference point P1 to the rear end of the vehicle (see Fig.14 ). After step S10, the control device 11 moves the process to step S3.

[0123] In step S3, the control device 11 generates a path that passes through the path reference point P1 and is aligned with the reference line L (reference line L). Figure 8 )Parallel paths (parallel lines).

[0124] In step S4, the control device 11 determines whether the combine harvester 1 meets the start conditions for automatic driving. For example, when the vehicle orientation of the combine harvester 1 is within a specified range relative to the above-mentioned parallel lines, the control device 11 determines that the combine harvester 1 meets the start conditions for automatic driving. The operator manually drives the combine harvester 1 in such a manner that the vehicle orientation of the combine harvester 1 is within a specified range relative to the above-mentioned parallel lines. When the control device 1 determines that the combine harvester 1 meets the start conditions for automatic driving (S4: Yes), the control device 11 moves the processing to step S5. The control device 11 waits until the combine harvester 1 meets the start conditions for automatic driving (S4: No).

[0125] Next, in step S5, the control device 11 determines whether an automatic driving start instruction is obtained. When the automatic driving start instruction is obtained (S5: Yes), the control device 11 moves the process to step S6. The control device 11 waits until the automatic driving start instruction is obtained (S5: No). For example, when the combine harvester 1 satisfies the automatic driving start conditions, if the operator presses the automatic driving instruction unit 31, the control device 11 obtains the automatic driving start instruction.

[0126] In step S6, the control device 11 sets the target path R. Specifically, the control device 11 sets the parallel line passing through the path reference point P1 corresponding to the position of the combine harvester 1 at the time when the automatic driving start instruction is obtained (current position, position several milliseconds earlier than the current position, etc.) as the target path R. For example, when the traveling direction of the combine harvester 1 is the forward direction, Fig.11AAs shown in FIG. 1 , the control device 11 sets a target path R passing through the travel reference point C1 set in the harvesting unit 3. In addition, for example, when the travel direction of the combine harvester 1 is the backward direction, as shown in FIG. Fig.14 As shown, the control device 11 sets a target path R passing through a travel reference point C1 set at the rear end of the vehicle.

[0127] Next, in step S7, the control device 11 starts the combine harvester 1 to automatically travel along the target path R. Specifically, the control device 11 controls the travel unit 2 to automatically travel the combine harvester 1 so that the travel reference point C1 passes through the target path R. The combine harvester 1 automatically travels straight along the target path R in the forward direction or the backward direction while performing harvesting operations.

[0128] Next, in step S8, the control device 11 determines whether the combine harvester 1 has ended automatic driving. When the operator presses the stop switch or the steering wheel is turned by a predetermined steering amount or more, the control device 11 determines that the combine harvester 1 has ended automatic driving. When the control device 1 determines that the combine harvester 1 has ended automatic driving (S8: Yes), the control device 11 switches the driving mode to the manual driving mode, and ends the above-mentioned driving process. The control device 11 continues the automatic driving until the combine harvester 1 ends automatic driving (S8: No).

[0129] For example, when the control device 11 is in a predetermined operation area (for example, the operation area F11 (refer to Fig.11A )) is capable of automatic driving, and the above processing is performed to make the combine harvester 1 perform automatic driving and harvesting operations according to the target path R. When the operation in the working area F11 is completed (automatic driving is completed), the combine harvester 1 moves to the target position of the next working area through manual steering operation (manual driving) performed by the operator. When the control device 11 specifies the travel direction of the combine harvester 1 at the target position (S1), the control device 11 performs the above processing to make the combine harvester 1 perform automatic driving and harvesting operations according to the target path R in the next working area. In this way, the control device 11 performs the above processing for each working area (working path).

[0130] The above-mentioned driving process is not limited to Fig.16 In the example shown, for example, the control device 11 can also be Fig.17 The steps shown execute the above-mentioned driving process.

[0131] In step S11, the control device 11 determines whether the combine harvester 1 is in a state capable of automatic driving (whether the start condition of automatic driving is satisfied). When the control device 11 determines that the combine harvester 1 is in a state capable of automatic driving (S11: Yes), the control device 11 moves the process to step S12. The control device 11 waits until the combine harvester 1 becomes capable of automatic driving (S11: No).

[0132] In step S12, the control device 11 determines whether an instruction to start automatic driving is obtained. When the control device 11 obtains an instruction to start automatic driving (S12: Yes), the control device 11 moves the process to step S13. The control device 11 waits until an instruction to start automatic driving is obtained (S12: No). For example, if the combine harvester 1 meets the conditions for starting automatic driving and the operator presses the automatic driving instruction unit 31, the control device 11 obtains an instruction to start automatic driving.

[0133] In step S13, the control device 11 determines whether the traveling direction of the combine harvester 1 is the forward direction. When the traveling direction is the forward direction (S13: Yes), the control device 11 causes the processing to move to step S14. On the other hand, when the traveling direction is not the forward direction (when it is the reverse direction) (S13: No), the control device 11 causes the processing to move to step S131. For example, when the main gear lever 91 is in the "forward area ("F")" position, the control device 11 determines that the traveling direction is the forward direction, and when the main gear lever 91 is in the "reverse area ("R")" position, the control device 11 determines that the traveling direction is the reverse direction.

[0134] In step S14, the control device 11 sets the path reference point P1 ahead of the travel reference point C1. For example, the control device 11 sets the path reference point P1 at the center (center in the width direction) of the harvesting section 3 and at the front end (refer to Fig.11A ). After step S14, the control device 11 moves the process to step S15.

[0135] On the other hand, in step S131, the control device 11 sets the path reference point P1 to the rear of the travel reference point C1. For example, the control device 11 sets the path reference point P1 to the rear end of the vehicle (see Fig.14 ). After step S131, the control device 11 moves the process to step S15.

[0136] In step S15, the control device 11 generates a target path R. Specifically, the control device 11 generates a path that passes through the path reference point P1 and is aligned with the reference line L (see Figure 8 ) parallel to the target path R. For example, when the traveling direction of the combine harvester 1 is the forward direction, Fig.11AAs shown in FIG. 1 , the control device 11 generates a target path R passing through the travel reference point C1 set in the harvesting unit 3. In addition, for example, when the travel direction of the combine harvester 1 is the backward direction, as shown in FIG. Fig.14 As shown, the control device 11 generates a target route R passing through a travel reference point C1 set at the rear end of the vehicle.

[0137] Next, in step S16, the control device 11 starts the combine harvester 1 to automatically travel along the target path R. Specifically, the control device 11 controls the travel unit 2 to automatically travel the combine harvester 1 so that the travel reference point C1 passes through the target path R. The combine harvester 1 automatically travels straight along the target path R in the forward direction or the backward direction while performing harvesting operations.

[0138] Next, in step S17, the control device 11 determines whether the combine harvester 1 has ended automatic driving. When the operator presses the stop switch or the steering wheel is turned by a predetermined steering amount or more, the control device 11 determines that the combine harvester 1 has ended automatic driving. When the control device 1 determines that the combine harvester 1 has ended automatic driving (S17: Yes), the control device 11 switches the driving mode to the manual driving mode, and ends the above-mentioned driving process. The control device 11 continues the automatic driving until the combine harvester 1 ends automatic driving (S17: No).

[0139] As described above, the control device 11 according to the present embodiment causes the combine harvester 1 to automatically travel based on the reference line L. In addition, the control device 11 sets a path reference point P1 for the combine harvester 1 based on the travel direction when the combine harvester 1 starts to automatically travel, and causes the combine harvester 1 to automatically travel along the target path R generated based on the reference line L and the path reference point P1.

[0140] According to the above structure, for example, when the combine harvester 1 is moving forward, the path reference point P1 is set in front of the vehicle, and a target path R passing through the path reference point P1 is generated, so that the combine harvester 1 can automatically move in the forward direction. In this way, the combine harvester 1 can move on the path desired by the operator (see Fig.11A and Fig. 11B ). In addition, for example, when the combine harvester 1 is traveling in reverse, the path reference point P1 is set at the center or rear of the vehicle, and a target path R passing through the path reference point P1 is generated, so that the combine harvester 1 automatically travels in the reverse direction. In this way, the combine harvester 1 can travel on the path desired by the operator (see Fig.11A , Fig. 11B , Figure 13 to Figure 15 ) That is, the combine harvester 1 can be automatically driven on an appropriate path.

[0141] [Other embodiments]

[0142] The present invention is not limited to the above-mentioned embodiment. Other embodiments of the present invention will be described below.

[0143] For example, the setting processing unit 112 may also set the path reference point P1 according to the speed of the combine harvester 1. Specifically, the faster the speed of the combine harvester 1, the setting processing unit 112 sets the path reference point P1 closer to the traveling direction of the combine harvester 1. Specifically, the faster the set speed during forward travel, the setting processing unit 112 sets the path reference point P1 at a position farther from the travel reference point C1 (front position), and the slower the set speed during forward travel, the path reference point P1 is set closer to the travel reference point C1. Similarly, the faster the set speed during reverse travel, the setting processing unit 112 sets the path reference point P1 at a position farther from the travel reference point C1 (rear position), and the slower the set speed during reverse travel, the path reference point P1 is set closer to the travel reference point C1.

[0144] In addition, as another embodiment, the setting processing unit 112 may also set the path reference point P1 according to the orientation (vehicle orientation) of the combine harvester 1. Specifically, the larger the difference (orientation difference) between the traveling direction (vehicle orientation) of the combine harvester 1 and the direction of the reference line L, the setting processing unit 112 sets the path reference point P1 closer to the traveling direction of the combine harvester 1. Specifically, Fig.18A As shown, when the direction difference between the combined harvester 1 and the reference line L is small, the setting processing unit 112 sets the path reference point P1 at the front end of the harvesting unit 3, as shown in FIG. Fig.18B As shown, when the direction difference between the combine harvester 1 and the reference line L is large, the setting processing unit 112 sets the path reference point P1 ahead of the harvesting unit 3. This allows the combine harvester 1 to properly travel on the path (target path R) desired by the operator.

[0145] In addition, the setting processing unit 112 may also determine whether to set the path reference point P1 based on the vehicle speed or the azimuth difference of the combine harvester 1 through the selection operation of the operator. For example, when the operator sets the mode in which the path reference point P1 is linked to the vehicle speed, the setting processing unit 112 sets the path reference point P1 based on the vehicle speed of the combine harvester 1, and when the operator sets the mode in which the path reference point P1 is not linked to the vehicle speed, the setting processing unit 112 sets the path reference point P1 regardless of the vehicle speed of the combine harvester 1. In addition, the operator may switch the above-mentioned mode for each operation path.

[0146] As described above, the setting processing unit 112 sets the path reference point P1 to the front side or rear side of the combine harvester 1 based on the state of the main gear lever 91 when the combine harvester 1 starts automatic driving. For example, when the main gear lever 91 is in the "forward range ("F")" position, the setting processing unit 112 sets the path reference point P1 to the front side of the vehicle than the driving reference point C1, and when the main gear lever 91 is in the "reverse range ("R")" position, the setting processing unit 112 sets the path reference point P1 to the driving reference point C1 or to the rear side of the vehicle than the driving reference point C1. Here, when the main gear lever 91 is in the "neutral ("N")" position (neutral), the setting processing unit 112 may also predict that the combine harvester 1 is moving forward and set the path reference point P1 to the front side of the vehicle than the driving reference point C1. For example, if the operator places the main gear lever 91 in the "neutral ("N")" position, the setting processing unit 112 sets the path reference point P1 to the front side of the vehicle relative to the driving reference point C1, and the generation processing unit 113 generates the target path R based on the driving reference point C1. Then, when the combine harvester 1 meets the start conditions of automatic driving in a state where the target path R is generated based on the path reference point P1, and the operator presses the automatic driving instruction unit 31 to issue a driving start instruction, and the operator places the main gear lever 91 in the "forward range ("F")" position, the driving processing unit 111 starts automatic driving according to the target path R.

[0147] Furthermore, in this case, if the operator places the main gear lever 91 in the "reverse area ("R")" position, the setting processing unit 112 can reset the path reference point P1 to the position of the driving reference point C1 or to the rear side of the vehicle than the driving reference point C1. In a state where the combine harvester 1 satisfies the start conditions for automatic driving in a state where the target path R is generated based on the path reference point P1 reset on the rear side, the driving processing unit 111 starts automatic driving in the reverse direction according to the target path R. In addition, in a state where the combine harvester 1 does not meet the start conditions for automatic driving in a state where the target path R is generated based on the path reference point P1 reset on the rear side, the combine harvester 1 is manually driven by manual steering operation performed by the operator with the path reference point P1 set to the rear side of the vehicle. Then, if the combine harvester 1 meets the start conditions for automatic driving and the operator presses the automatic driving indication unit 31 to indicate the start of driving, the driving processing unit 111 starts automatic driving in the reverse direction according to the target path R.

[0148] In addition, the operator can also pre-select whether to set the path reference point P1 on the front side or the rear side of the vehicle to prevent the path reference point P1 from switching between the front side and the rear side of the vehicle when the main gear lever 91 is operated to move the combine harvester 1 to meet the start conditions of automatic driving after the path reference point P1 is set.

[0149] As another embodiment, when the main gear lever 91 is in the "neutral ("N")" position, the setting processing unit 112 may also predict that the combine harvester 1 is traveling in reverse, and set the path reference point P1 at the position of the travel reference point C1 or on the rear side of the vehicle than the travel reference point C1. For example, in the case where the operating mode is set to an operating mode (one-way harvesting) in which the combine harvester 1 travels forward on the operating path and performs harvesting operations, and then travels in reverse on the operating path, when the combine harvester 1 travels forward on the operating path and completes the harvesting operations, the operator switches the main gear lever 91 to the "neutral ("N")" position in order to make the combine harvester 1 travel in reverse. In this case, the setting processing unit 112 determines that the combine harvester 1 is traveling in reverse, and sets the path reference point P1 at the travel reference point C1 or on the rear side of the vehicle than the travel reference point C1. The generation processing unit 113 generates a target path R based on the driving reference point C1. When the operator places the main gear lever 91 in the "reverse region ("R")", the driving processing unit 111 starts automatic driving in the reverse direction according to the target path R. In addition, the operator can also select in advance whether to set the path reference point P1 to the front side or the rear side of the vehicle when the main gear lever 91 is placed in the "neutral ("N")" position.

[0150] In this way, the setting processing unit 112 may set the path reference point P1 based on the state of the main gear lever 91 and the operation mode (travel mode) when the combine harvester 1 starts automatic travel.

[0151] As another embodiment of the present invention, the setting processing unit 112 may set the travel reference point C1 at a different position for each reference line L. For example, the control device 11 may generate the second reference line L based on the registration operation performed by the operator, or may generate the second reference line L (for example, a reference line orthogonal to the first reference line L) based on the first reference line L. In this case, the setting processing unit 112 sets the path reference point P1 at the first position when the vehicle is automatically traveling based on the first reference line L1, and sets the path reference point P1 at the second position when the vehicle is automatically traveling based on the second reference line L2. For example, when the first reference line L1 is a reference line for traveling in a working area where harvesting is performed, high-precision position control is required, so the setting processing unit 112 sets the path reference point P1 to the traveling direction side of the travel reference point C1. On the other hand, when the second reference line L2 is a reference line for traveling in a non-working area (headland area, etc.) where harvesting is not performed, high-precision position control is not required, so the setting processing unit 112 sets the path reference point P1 at the position of the travel reference point C1.

[0152] As another embodiment of the present invention, the setting processing unit 112 may also set the travel reference point C1 based on the setting operation of the priority mode by the operator. For example, in the case of the priority mode ("priority to work accuracy") that prioritizes the accuracy of the harvesting operation (position accuracy), the setting processing unit 112 sets the path reference point P1 to the side of the travel direction of the travel reference point C1. On the other hand, in the case of the priority mode ("priority to work continuity") that prioritizes the work efficiency (travel efficiency), the setting processing unit 112 sets the path reference point P1 to the position of the travel reference point C1.

[0153] In the above embodiment, a combine harvester is cited as an example of the working vehicle of the present invention, but when the working vehicle is a working vehicle having a working unit behind the vehicle (e.g., a tractor having a tiller), the setting processing unit 112 sets the path reference point P1 behind the travel reference point C1 (the position of the working unit) when the working vehicle is traveling forward. That is, the setting processing unit 112 may also set the path reference point P1 based on the position of the working unit.

[0154] [Additional Notes on the Invention]

[0155] Hereinafter, the summary of the invention extracted from the above-mentioned embodiment will be described in the supplementary notes. In addition, each structure and each processing function described in the following supplementary notes can be selected and combined arbitrarily.

[0156] <Note 1>

[0157] A driving method is a driving method for making a working vehicle automatically drive based on a reference line.

[0158] The above driving method executes:

[0159] Setting a path reference point for the work vehicle based on the direction of travel of the work vehicle when the work vehicle starts to travel automatically; and

[0160] The work vehicle is automatically driven along a target path generated based on the reference line and the path reference points.

[0161] <Note 2>

[0162] According to the driving method described in Appendix 1,

[0163] The target path is a straight line passing through the path reference point and parallel to the reference line.

[0164] <Note 3>

[0165] According to the driving method described in Appendix 1 or 2,

[0166] When the traveling direction is a first direction, the path reference point is set on the first direction side compared to when the traveling direction is a second direction which is a direction opposite to the first direction.

[0167] <Note 4>

[0168] According to any of the driving methods described in Appendix 1 to 3,

[0169] The path reference point is set on the side of the travel direction relative to the travel reference point set for the work vehicle.

[0170] The work vehicle is automatically driven based on the driving reference point and the target path.

[0171] <Note 5>

[0172] According to the driving method described in Appendix 4,

[0173] The travel reference point is set to be constant regardless of the travel direction.

[0174] <Note 6>

[0175] According to any one of the driving methods described in Appendix 1 to 5,

[0176] The path reference point is set closer to the traveling direction of the work vehicle as the speed of the work vehicle increases.

[0177] <Note 7>

[0178] According to any one of the driving methods described in Supplementary Notes 1 to 6,

[0179] The path reference point is set closer to the traveling direction of the work vehicle as the difference between the traveling direction of the work vehicle and the direction of the reference line increases.

[0180] <Note 8>

[0181] According to any one of the driving methods described in Appendix 1 to 7,

[0182] The path reference point is set at a front side or a rear side of the work vehicle based on a state of a travel direction switching operation element when the automatic travel is started.

[0183] <Note 9>

[0184] According to any one of the driving methods described in Appendix 1 to 8,

[0185] The above-mentioned working vehicle is a harvesting vehicle having a harvesting unit at the front side.

[0186] The path reference point is set at the harvesting part or in front of the harvesting part.

Claims

1. A driving method for causing a working vehicle to automatically drive based on a reference line, characterized in that: The driving method performs: setting a path reference point for the work vehicle based on the travel direction of the work vehicle when the work vehicle starts automatic driving; and The work vehicle is automatically driven along a target path generated based on the reference line and the path reference points.

2. The driving method according to claim 1, characterized in that: The target path is a straight line passing through the path reference point and parallel to the reference line.

3. The driving method according to claim 1, characterized in that: When the traveling direction is a first direction, the path reference point is set on the first direction side compared to when the traveling direction is a second direction that is opposite to the first direction.

4. The driving method according to claim 1, characterized in that: The path reference point is set on the side of the travel direction relative to the travel reference point set on the work vehicle, The work vehicle is automatically driven based on the driving reference point and the target path.

5. The driving method according to claim 4, characterized in that: The travel reference point is set to be constant regardless of the travel direction.

6. The driving method according to claim 1, characterized in that: The path reference point is set closer to the traveling direction of the work vehicle as the speed of the work vehicle increases.

7. The driving method according to claim 1, characterized in that: The path reference point is set closer to the traveling direction of the work vehicle as the difference between the traveling direction of the work vehicle and the direction of the reference line increases.

8. The driving method according to claim 1, characterized in that: The path reference point is set on the front side or the rear side of the work vehicle based on the state of the travel direction switching operation element when the automatic travel is started.

9. The driving method according to any one of claims 1 to 8, characterized in that: The working vehicle is a harvesting vehicle having a harvesting unit on the front side. The path reference point is set at the harvesting part or in front of the harvesting part.

10. A driving program for causing a work vehicle to automatically drive based on a reference line, characterized in that: Used to cause one or more processors to execute: setting a path reference point for the work vehicle based on the travel direction of the work vehicle when the work vehicle starts automatic driving; and The work vehicle is automatically driven along a target path generated based on the reference line and the path reference points.

11. A driving system for automatically driving a working vehicle based on a reference line, characterized in that: have: a setting processing unit that sets a path reference point for the work vehicle based on a traveling direction of the work vehicle when the work vehicle starts automatic driving; and The travel processing unit causes the work vehicle to automatically travel along a target path generated based on the reference line and the path reference points.

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