Route generation method, route generation program, and route generation system

Abstract

Provided are a route generation method, a route generation program, and a route generation system with which it is possible to easily generate a target route for a work vehicle to automatically travel. A generation processing unit (112) generates a plurality of reference lines in mutually different orientations. When a new reference line setting operation received after the plurality of reference lines are generated satisfies a predetermined condition, the correction processing unit (113) specifies at least one reference line to be corrected among the plurality of reference lines, and corrects the specified reference line to a position corresponding to the setting operation.

Description

Technical Field

[0001] The present invention relates to a technique for generating a path for a work vehicle to automatically travel within a work area. Background Art

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

[0003] Patent Document 1: Japanese Patent No. 7203654

[0004] However, in the prior art, when a target path is generated by newly registering a reference line, for example, an operator has to select any one of the registered reference lines, delete it, and then perform a new reference line setting operation, which is time-consuming and laborious. Summary of the invention

[0005] An object of the present invention is to provide a route generation method, a route generation program, and a route generation system that can easily generate a target route for a work vehicle to automatically travel.

[0006] The path generation method involved in the present invention is a method for generating a target path for a work vehicle to automatically travel based on a baseline. The path generation method performs: generating a plurality of baselines with different orientations from each other; and when a setting operation of a new baseline received after generating the plurality of baselines satisfies a prescribed condition, determining at least one baseline of the plurality of baselines to be corrected, and correcting the determined baseline to a position corresponding to the setting operation.

[0007] The path generation program involved in the present invention is a program for generating a target path for a work vehicle to automatically travel based on a baseline. The path generation program is used to cause one or more processors to execute: generating multiple baselines with different orientations; and when a setting operation of a new baseline received after generating the multiple baselines satisfies a specified condition, determining at least one baseline of the multiple baselines to be corrected, and correcting the determined baseline to a position corresponding to the setting operation.

[0008] The path generation system involved in the present invention is a system for generating a target path for a work vehicle to automatically travel based on a baseline. The path generation system comprises a generation processing unit and a correction processing unit. The generation processing unit generates a plurality of baselines in different directions from each other. When the setting operation of a new baseline received after generating the plurality of baselines satisfies a prescribed condition, the correction processing unit determines at least one baseline of the plurality of baselines to be corrected, and corrects the determined baseline to a position corresponding to the setting operation.

[0009] According to the present invention, it is possible to provide a route generation method, a route generation program, and a route generation system that can easily generate a target route for a work vehicle to automatically travel. 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 the operation 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 operation device provided in the combine harvester which concerns on embodiment of this invention.

[0017] Figure 7 It is a figure which shows the structure of the operation device provided in the combine harvester which concerns on embodiment of this invention.

[0018] Fig. 8A This is a diagram showing an example of a method of generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0019] Figure 8B This is a diagram showing an example of a method of generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0020] Figure 8C This is a diagram showing an example of a method of generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0021] Fig.8D This is a diagram showing an example of a method of generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0022] Fig. 8E This is a diagram showing an example of a method of generating a reference line of a combine harvester according to the first embodiment of the present invention.

[0023] Fig.9A This is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention.

[0024] Fig. 9B This is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention.

[0025] Fig.10 This is a diagram showing an example of a method of correcting a reference line according to the first embodiment of the present invention.

[0026] Fig.11 This is a flowchart showing an example of a procedure of a traveling process executed by the traveling system according to the first embodiment of the present invention.

[0027] Fig.12 This is a diagram showing an example of a method of correcting a reference line according to the first embodiment of the present invention.

[0028] Fig.13 It is a figure which shows an example of the traveling method of the combine harvester which concerns on Embodiment 1 of this invention.

[0029] Fig.14 It is a figure which shows an example of the traveling method of the combine harvester which concerns on Embodiment 1 of this invention.

[0030] Fig.15 It is a figure which shows an example of the traveling method of the combine harvester which concerns on Embodiment 1 of this invention.

[0031] Fig.16A This is a diagram showing an example of a method of generating a reference line of a combine harvester according to Embodiment 2 of the present invention.

[0032] Fig. 16B This is a diagram showing an example of a method of generating a reference line of a combine harvester according to Embodiment 2 of the present invention.

[0033] Fig. 16C This is a diagram showing an example of a method of generating a reference line of a combine harvester according to Embodiment 2 of the present invention.

[0034] Fig.16D This is a diagram showing an example of a method of generating a reference line of a combine harvester according to Embodiment 2 of the present invention.

[0035] Fig.17 This is a diagram showing an example of a method for correcting a reference line according to Embodiment 2 of the present invention.

[0036] Fig.18 This is a diagram showing an example of a method for correcting a reference line according to Embodiment 2 of the present invention.

[0037] Fig.19 This is a diagram showing an example of a method for correcting a reference line according to Embodiment 2 of the present invention.

[0038] Fig. 20 This is a flowchart showing an example of the procedure of the route generation process executed by the travel system according to the second embodiment of the present invention.

[0039] Description of Reference Numerals

[0040] 1…Combine harvester (working vehicle); 2…Traveling unit (working unit); 3…Harvesting unit; 9…Operating unit; 11…Control device; 30…Operating device; 51…Storage unit; 111…Traveling processing unit; 112…Generation processing unit; 113…Correction processing unit; F…Field; A1…First starting point; A2…Second starting point; B1…First end point; B2…Second end point; L1…First baseline; L2…Second baseline; L21…Corrected baseline; L22…Corrected baseline; L3…Third baseline; La…Baseline. DETAILED DESCRIPTION

[0041] The following embodiment is an example of embodying the present invention, and does not limit the technical scope of the present invention.

[0042] [Implementation Method 1]

[0043] The driving system involved in the first 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.

[0044] 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 an operator (operator). Specifically, the combine harvester 1 automatically travels along a target path R (e.g., a straight working path) in a working area in the field F according to an automatic steering operation, and manually travels in a non-working area in the field F according to a manual steering operation (driving operation) performed by an operator. The combine harvester 1 travels and operates in the field F while switching between automatic driving in the working area and manual driving in the non-working area. The target path R may also be generated in advance based on the operation of the operator and stored as path data.

[0045] In addition, in the present embodiment, automatic driving means that the combine harvester 1 controls (automatically steering) the steering amount (steering angle) in a manner along the target path R while driving. During the automatic driving of the combine harvester 1, 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 handle, etc.) while the combine harvester 1 is automatically driving 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 as follows: only the automatic steering operation (steering control processing) is performed during automatic driving, and the switching processing and stop processing of the vehicle speed and the driving direction are performed according to the operation of the operator. As another embodiment, the combine harvester 1 can also be configured as follows: the automatic steering operation, the switching processing and stop processing of the vehicle speed and the driving direction are automatically performed without relying on the operation of the operator.

[0046] Figure 4A and Figure 4B FIG. 1 shows an example of a target path R set for a field F. The combine harvester 1 automatically travels along the target path R in the field F while performing harvesting operations. Figure 4A As shown in FIG. 1 , if a plurality of paths (parallel lines) parallel to the first reference line L1 are 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 4BAs shown, if multiple paths (parallel lines) parallel to the second baseline L2 are 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 first baseline L1 is generated, for example, based on the starting point A and the end point B registered at an arbitrary position in the field F, and the second baseline L2 is generated, for example, by an orthogonal line orthogonal to the first baseline L1. In addition, the second baseline L2 can also be generated based on the starting point and the end point in the same way as the first baseline L1. In addition, the target path R that makes the combine harvester 1 automatically travel 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.

[0047] use Figure 5 An example of the operation sequence 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 FIG. 1 ) generated based on the first reference line L1 and the second reference line L2. Figure 4A and Figure 4B ) automatically travels while performing harvesting operations. For example, the combine harvester 1 automatically travels according to the target paths R1 and R2 when traveling straight, and travels manually according to the manual steering operation of the operator when turning. Here, the combine harvester 1 travels from the outer peripheral side to the inner peripheral side from the starting position S to the ending position G while performing harvesting operations ("ring cutting", "reciprocating cutting"). First, if the combine harvester 1 starts to travel automatically at the starting position S, it travels while harvesting the stalks along the outer periphery of the field F. In addition, if the combine harvester 1 threshes the harvested stalks, the grass clippings and other straw are discharged from the rear of the machine body to the outside. As a result, straw C1 is accumulated on the travel track of the combine harvester 1, and a straw row is formed on the path where the combine harvester 1 completes the harvesting operation. In addition, the combine harvester 1 is set to discharge the harvested stalks of the stalks to the position of the stalks of the harvesting object, and is configured to be able to grasp the position, width (lateral width of the stalk row in the left and right direction), length, etc. of the stalks C1. For example, the straw C1 is discharged with a width narrower than the lateral width of the combine harvester 1 based on the center of the left-right direction of the combine harvester 1. For example, the combine harvester 1 goes around the peripheral area F1 twice. In this case, a row of straw for two weeks is formed. In addition, the number of times the peripheral area F1 is surrounded is not limited to two times, and may be one or three times or more.

[0048] When the combine harvester 1 finishes 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 traveling straight in the vertical direction, and turns and travels straight in the outer peripheral area F1 (operation end area, harvested area) without performing the harvesting operation in the left and right directions, thereby moving between the operation paths. 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.

[0049] As described above, the combine harvester 1 moves along the target path R1 (see FIG. 1 ) corresponding to the first reference line L1 in the vertical direction in the field F. Figure 4A ) automatically drives while performing harvesting operations, and moves in the left and right directions along the target path R2 (reference Figure 4B ) while performing harvesting operations. In addition, the combine harvester 1 may also automatically drive when driving straight, and manually drive according to the manual steering operation of the operator when driving around. For example, the combine harvester 1 may also automatically drive in the forward direction on the 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 may also manually drive according to the manual steering operation of the operator when moving between operation paths.

[0050] In addition, the driving system may also include an operation terminal (tablet terminal, smart phone, etc.) for the operator to operate. The above-mentioned operation 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 operation terminal. In addition, the operator can grasp the driving status, operation status, etc. of the combine harvester 1 based on the driving track displayed by the above-mentioned operation terminal at a place far away from the combine harvester 1. The above-mentioned operation terminal may also be mounted on the combine harvester 1.

[0051] [Combine Harvester 1]

[0052] Figure 2 , which shows an external view of the combine harvester 1 viewed from the side. Figure 3 FIG. 2 shows an appearance diagram of the combine harvester 1 viewed from above. Figure 1 to Figure 3As shown, the combine harvester 1 includes a travel section 2, a harvesting section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw processing section 7, a power section 8, an operating section 9, an operating device 30, a control device 11, a storage section 51, a positioning unit 52, a detection section 53, and a communication section 54. The combine harvester 1 travels by the travel section 2, harvests the straw by the harvesting section 3, thres the harvested straw by the threshing section 4, and sorts the grains by the sorting section 5 and stores them in the storage section 6. In addition, the combine harvester 1 processes the threshed straw by the straw processing section 7. The combine harvester 1 drives the travel section 2, the harvesting section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw processing section 7 by the power supplied by the power section 8.

[0053] The traveling unit 2 is provided below the machine frame 12, and includes a pair of left and right crawler traveling devices 23 and a transmission device (not shown). The traveling unit 2 rotates the crawler of the crawler traveling device 23 by the power (e.g., rotary 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 device transmits the power (rotary power) of the power unit 8 to the crawler traveling device 23, and can also change the speed of the rotary power.

[0054] The harvesting section 3 is an operating machine that operates on the field F that is the operating object. It is arranged in front of the traveling section 2 and harvests the grain stalks of a specified harvesting width in the unoperated area of ​​the field F, that is, the area with uncut grain stalks (uncut area). The harvesting section 3 is an example of the operating section of the present invention. The harvesting section 3 includes a straw divider 13, a straw wheel 14, a cutter 15, a raking auger 16, a feed chamber 17, and a conveyor belt 18. In addition, the harvesting section 3 includes a rotation detection section (not shown) that detects the rotation speed (operation speed) of the rotary operation used 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 straw wheel 14, the rotation speed of the raking auger 16, the rotation speed of the conveyor belt 18, and the like.

[0055] The straw divider 13 is configured to protrude forward from the left front end and the right front end of the harvesting section 3, and guide the uncut grain stalks into the harvesting width. The reel 14 is arranged behind the straw divider 13, and is configured to be rotatable around a rotation axis extending in the left-right direction. In order to assist in the harvesting of the grain stalks guided by the straw divider 13, the reel 14 is driven by rotation to lift up the grain stalks while raking in the tip side of the grain stalks. The cutter 15 is arranged below the reel 14, and cuts off the root side of the grain stalks raked in by the reel 14 to harvest the grain stalks.

[0056] The raking auger 16 is arranged behind the reel 14 and the cutter 15 and is provided rotatably around a rotation axis extending in the left-right direction. The raking auger 16 raks the grain stems harvested by the cutter 15 and conveys them rearward by being rotationally driven.

[0057] The feed chamber 17 extends forward from the machine frame 12 and is arranged behind the auger 16, and is supported by the machine frame 12 so as to be liftable. In addition, the crop divider 13, the reel 14, the cutter 15 and the auger 16 are lifted and lowered by lifting the feed chamber 17, that is, the harvesting section 3 is lifted and lowered.

[0058] The combine harvester 1 is provided with a lifting device 19 on the machine frame 12 for lifting and lowering the feed chamber 17 to lift and lower 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 operated by receiving power from an engine 20.

[0059] The conveyor belt 18 is rotatably provided in the feed chamber 17, and moves with the raising and lowering of the feed chamber 17. The conveyor belt 18 is driven to rotate to convey the grain stems conveyed into the feed chamber 17 by the raking auger 16 further to the rear to the threshing unit 4.

[0060] The threshing section 4 is arranged at the rear of the feed chamber 17 of the harvesting section 3, and threshes the rice stalks conveyed from the feed 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 stalks conveyed from the feed chamber 17, and conveys the threshed rice stalks, i.e., straw, to the straw processing section 7. The receiving net 22 supports the rice stalks conveyed by the threshing drum 21, and sieves the grains to make them fall.

[0061] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes a swing sorting device 24, an air supply sorting device 25, a grain conveying device (not shown), and a grass clippings discharge device (not shown). The swing sorting device 24 sieves and sorts the threshed material falling from the threshing section 4 into grains and grass clippings, etc. The air supply sorting device 25 further sorts the threshed material falling from the threshing section 4 and the threshed material sorted by the swing sorting device 24 into grains and grass clippings, etc. by air supply. The grain conveying device conveys the grains sorted by the swing sorting device 24 and the air supply sorting device 25 to the storage section 6. The grass clippings discharge device discharges grass clippings, etc. other than grains sorted by the swing sorting device 24 and the air supply sorting device 25 to the outside of the machine.

[0062] 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 transported from the sorting section 5. The grain discharge device 28 is configured to have a discharge auger, 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.

[0063] The straw processing unit 7 is provided at the rear of the threshing unit 4. The straw processing unit 7 includes, for example, a straw conveying device (not shown) and a straw cutting device (not shown). The straw processing unit 7 conveys the straw conveyed from the threshing unit 4 to the straw cutting device via the straw conveying device, and discharges the straw to the rear of the combine harvester 1 after the straw is cut by the straw cutting device (see FIG. Figure 5 ).

[0064] 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 sorting unit 5, the storage unit 6, and the 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.

[0065] The operating unit 9 is provided above the power unit 8. The operating unit 9 is provided with a handle for indicating the turning of the body of the combine harvester 1, a main gear lever and a sub-gear lever for indicating the change of the forward and backward speed of the combine harvester 1, etc. as operating parts for operating the travel of the combine harvester 1 around the seat 40 for the operator to sit, that is, the driver's seat. The manual travel of the combine harvester 1 is performed by the travel unit 2 that receives the operation of the handle of the operating unit 9, the main gear lever and the sub-gear lever. 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 6 ) The operating device 30 is operated by an operator who is on the combine harvester 1 .

[0066] 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, that is, the vehicle position (measurement point data) of the combine harvester 1 based on the positioning signal. The positioning unit 52 may be composed of a quantum compass instead of a positioning antenna.

[0067] 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 in accordance with a predetermined communication protocol with an external device such as an operation terminal via the communication network N1.

[0068] 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.11) and other control programs. For example, the driving program is recorded non-temporarily 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.

[0069] The detection unit 53 is a sensor that detects a detection object within a predetermined detection range using infrared rays, ultrasonic waves, etc. For example, the detection unit 53 may be a radar sensor (distance sensor) that can three-dimensionally measure the distance to the measurement object (detection object) using lasers, or a sonar sensor having a plurality of sonars that can measure the distance to the measurement object using ultrasonic waves. In addition, the sonar sensor may also be a structure that does not have a distance measurement function.

[0070] 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 storage 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 storage unit 51 using the CPU.

[0071] Next, refer to Figure 7 The structure of the operating device 30 will be described. The operating device 30 is installed near the handle so that the operator sitting in the driver's seat can operate it, for example (see Figure 6 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.

[0072] In this embodiment, the following example is described, that is, 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 of the present invention can also be configured to be able to set more than three baselines.

[0073] 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 composed of a circular operation button etc. so as to be able to receive a pressing operation. When the start condition of the automatic driving is satisfied, the automatic driving instruction unit 31 sends the start instruction of the automatic driving to the control device 11 according to the pressing operation.

[0074] Furthermore, the automatic driving instruction unit 31 may be pressable only when the start condition is satisfied, or may be always pressable and send the automatic driving start instruction only when the start condition is satisfied and the instruction is pressed. Alternatively, the automatic driving instruction unit 31 may be always pressable and send the automatic driving start instruction in response to the press operation, while the control device 11 determines that the start instruction is accepted only when the start condition is satisfied.

[0075] The automatic driving display unit 32 is composed of LEDs, lights, etc. that indicate the automatic driving state of the combine harvester 1, and is controlled by the control device 11 to display in different display states depending on whether the start condition of the automatic driving is satisfied. The automatic driving display unit 32 is, for example, formed in a ring shape surrounding the automatic driving indicator unit 31. In addition, in the present embodiment, the automatic driving display unit 32 is relatively independently configured from the automatic driving indicator unit 31, but the automatic driving display unit 32 can also be integrally configured with the automatic driving indicator unit 31.

[0076] For example, when the start condition is not satisfied, the automatic driving display unit 32 turns off. On the other hand, when the start condition is satisfied, the automatic driving display unit 32 flashes before the start of the automatic driving and lights up during the automatic driving. In addition, when there are multiple start conditions, the automatic driving display unit 32 may be displayed in a manner that allows identification of whether each start condition is satisfied, for example, it may be configured to be divided into multiple parts, each of which corresponds to each start condition. In addition, the automatic driving display unit 32 may also use other display states to identify the state of automatic driving.

[0077] The plurality of reference line operation units 33 are operation units that receive selection operations for the reference lines, and are configured by circular operation buttons or the like so as to receive a pressing operation. 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 pressing operation. In addition, each reference line operation unit 33 may also send a selection cancellation instruction to cancel the selection of the corresponding reference line as an automatic driving target to the control device 11 in response to a cancellation operation such as a pressing operation again.

[0078] 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.

[0079] The plurality of baseline display units 34 correspond to the plurality of baselines respectively, and the plurality of baseline display units 34 are composed of LEDs, lights, etc. indicating the state of each baseline, and are controlled by the control device 11 to display in different display states according to the setting state and selection state of each baseline. In addition, the plurality of baseline display units 34 also correspond to the plurality of baseline operating units 33 respectively, and the plurality of baseline display units 34 show an example in which each baseline display unit 34 and each baseline operating unit 33 are integrally formed, but in other examples, each baseline display unit 34 can also be formed relatively independently from each baseline operating unit 33.

[0080] In addition, when the baseline is selected as the automatic driving object, the baseline display unit 34 flashes. At this time, the baseline display unit 34 may be displayed in different flashing states (for example, different flashing intervals) for the case where the baseline is automatically selected according to the vehicle position and the traveling direction of the combine harvester 1 and the case where the baseline is selected according to the selection operation of the baseline operation unit 33. 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.

[0081] The starting point setting unit 35 is an operation unit for receiving the setting operation of the starting point (point A) of each reference line, and is composed of an operation button etc. so as to be able to receive a pressing operation. 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, in the control device 11, the vehicle position of the combine harvester 1 is set as the starting point of the reference line.

[0082] The end point setting unit 36 ​​is an operation unit for receiving the setting operation of the end point (point B) of each reference line, and is composed of an operation button etc. so as to be able to receive a pressing operation. 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, in the control device 11, the vehicle position of the combine harvester 1 is set as the end point of the reference line.

[0083] 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 also be formed relatively independently from the starting point setting unit 35.

[0084] The starting point setting display unit 37 turns off when the starting point setting operation can be performed, that is, when the starting point has not been set, and turns on when the starting point setting operation cannot be performed, that is, when the starting point has been set.

[0085] 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 also be formed relatively independently from the end point setting unit 36.

[0086] The end point setting display unit 38 turns off when the end point setting operation can be performed, that is, when the end point has not been set, and lights up when the end point setting operation cannot be performed, that is, when the end point has been set.

[0087] In this way, the operating device 30 receives an operation for generating a baseline and an operation for selecting a baseline when starting automatic driving. As another embodiment, the operating device 30 may omit the baseline operating unit 33 and the baseline 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 baseline operating unit 33 and the baseline 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 (mobile terminal) capable of data communication with the combine harvester 1.

[0088] However, in the prior art, for example, when the combine harvester is expected to travel on a path that is offset from a target path position corresponding to a pre-generated baseline, the operator has to regenerate the baseline, which is time-consuming and laborious. In contrast, as shown below, the combine harvester 1 involved in this embodiment has a structure that can easily generate a target path for automatic travel.

[0089] Specifically, if Figure 1As shown, the control device 11 includes various processing units such as a driving processing unit 111, a generation processing unit 112, and a correction processing unit 113. In addition, the control device 11 functions as the various processing units by executing various processing in accordance with the driving program using 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. In addition, the driving program includes a route generation program of the present invention.

[0090] The driving processing unit 111 controls the driving of the combine harvester 1. For example, when the driving mode of the combine harvester 1 is manual driving (manual driving mode), the driving processing unit 111 drives the combine harvester 1 manually based on the operation of the operator (manual steering operation). For example, the driving processing unit 111 obtains operation information corresponding to driving operations such as handle operation, speed change operation, driving direction switching operation, and braking operation performed by the operator, and causes the driving unit 2 to perform a driving action based on the operation information.

[0091] In addition, when the driving mode of the combine harvester 1 is automatic driving (automatic driving mode), the driving processing unit 111 drives the combine harvester 1 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 conditions for 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-mentioned positioning information. In addition, the driving processing unit 111 drives the combine harvester 1 automatically according to the pre-generated target path R. For example, if the combine harvester 1 meets the start conditions for automatic driving 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 straight path (operating path) of the target path R.

[0092] In addition, if the combine harvester 1 reaches the target end position of the operation path, the driving processing unit 111 switches the driving mode to manual driving. The driving processing unit 111 may also switch the driving mode to manual driving when it is determined that the combine harvester 1 has reached the target end position of the operation path, or may switch the driving mode to manual driving according to the operation of the operator. If the driving mode is switched to manual driving, for example, the operator turns the combine harvester 1 by manual steering (manual driving). In addition, the position of the target end position of each operation path is a position that enters the inner side 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 on the immediately preceding operation completion path (a position where a line perpendicular to the operation completion path passes through the position switched to manual and intersects with the operation path, or a position where a line parallel to the end edge of the field F passes through the position switched to manual and intersects with the operation path), a position where a line perpendicular to the baseline and the operation path intersects through the end point (point B) of the baseline, and the baseline, 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, or the like to perform a switching operation to manual travel.

[0093] In addition, the driving processing unit 111 obtains the position of the combine harvester 1 from the positioning unit 52 during the harvesting operation, and controls the driving unit 2, the harvesting unit 3, and the power unit 8 so that the combine harvester 1 automatically drives and harvests along the working path based on the position of the combine harvester and the working path included in the target path R. For example, Figure 5 As shown, the travel processing unit 111 causes the combine harvester 1 to automatically travel and harvest along the outer periphery in the outer peripheral area F1 from the start position S, and then automatically travel and harvest to the end position G in the inner peripheral area F2.

[0094] As described above, the travel processing unit 111 switches the travel mode according to the operation performed by the operator, for example, so that the combine harvester 1 performs automatic travel and harvesting work by automatic steering and performs manual travel by manual steering.

[0095] The generation processing unit 112 generates a target route R for automatically traveling the combine harvester 1. Specifically, the generation processing unit 112 generates (sets) a reference line (reference orientation) for the field F according to an operation by an operator, and generates the target route R based on the generated reference line.

[0096] Here, refer to Figure 8A to Figure 8E An example of a method of generating a reference line using the operating device 30 will be described. When generating the 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. 8AWhen the operator moves the combine harvester 1 to any position (for example, the end) of the field F, he presses the starting point setting unit 35 (see Fig. 8A The generation processing unit 112 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 ( Fig.9A When the generation processing unit 112 registers the first starting point A1, the starting point setting display unit 37 lights up the LED (see Figure 8B ). After that, the operator drives the combine harvester 1 manually and presses the end point setting unit 36 ​​(see Figure 8C The generation processing unit 112 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 ( Fig.9A If the generation processing unit 112 registers the first destination B1, the destination setting display unit 38 and the automatic driving display unit 32 light up their LEDs (see Fig.8D ).

[0097] When the generation processing unit 112 registers the first starting point A1 and the first end point B1, it generates a straight line connecting the first starting point A1 and the first end point B1, and registers the generated straight line as a first reference line (first reference line L1 (refer to Fig.9A )). The generation processing unit 112 stores the generated first baseline L1 in the storage unit 51. In addition, the generation processing unit 112 establishes a correspondence between the first baseline L1 and the baseline operation unit 33a and registers (sets). In addition, in the present invention, "baseline" can also be a "baseline orientation", and "line" and "orientation" are synonymous. In addition, "orientation" can also be determined by direction or by a numerical value. The generation processing unit 112 can also generate a reference orientation (numerical value) and store it in the storage unit 51.

[0098] As described above, the generation processing unit 112 generates a baseline (reference orientation) based on the start point and end point set in the field F. For the operating device 30, if a baseline (here, the first baseline L1) is registered, 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, the operator can recognize that the baseline registration in the baseline operating unit 33a is completed by lighting the start point setting display unit 37 and the end point setting display unit 38 respectively when the baseline operating unit 33a is pressed. In this embodiment, similarly to 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. 8E ).

[0099] In the present invention, the method for generating the first reference line L1 is not limited to the above method. For example, the control device 11 may also generate the first reference line L1 (reference azimuth) based on the azimuth (vehicle azimuth) of the combine harvester 1. Specifically, if the operator performs an operation to register the starting point A (pressing operation of 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 current azimuth (vehicle azimuth) of the combine harvester 1 as the first reference line L1.

[0100] In addition, as another method, the control device 11 may also generate the first reference line L1 (reference azimuth) based on the azimuth (set azimuth) set by the operator. Specifically, the operator inputs an angle relative to the reference azimuth (e.g., north azimuth) in a setting screen (not shown) and performs an operation to register the starting point A (pressing the starting point setting unit 35), and 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 first reference line L1.

[0101] In addition, as another method, the control device 11 may generate the first reference line L1 (reference orientation) based on any one of the outer contour sides of the field F when the outer contour of the field F is registered. For example, when the outer contour of the field F in a rectangular shape is registered, the control device 11 registers a straight line parallel to the right side among the left side, right side, top side, and bottom side of the rectangle as the first reference line L1.

[0102] As described above, the control device 11 can adopt any one of the following methods: a method of generating the first reference line L1 based on the starting point A and the end point B (first generation mode); a method of generating the first reference line L1 based on the starting point A and the vehicle azimuth (second generation mode); a method of generating the first reference line L1 based on the starting point A and the set azimuth (third generation mode); and a method of generating the first reference line L1 based on the shape of the field F (fourth generation mode). In addition, the control device 11 can generate the first reference line L1 by the generation mode selected by the operator from the first to fourth generation modes, or can generate the first reference line L1 by the generation mode selected based on operation information, etc.

[0103] In addition, the generation processing unit 112 can automatically generate the second reference line L2 based on the first reference line L1. Specifically, if the generation processing unit 112 generates the first reference line L1, it generates a straight line orthogonal to the first reference line L1 as the second reference line L2. Fig.9AAs shown in FIG. 1 , the generation processing unit 112 generates a perpendicular line passing through the first end point B1 and forming an angle D1 of 90 degrees with the first reference line L1 as the second reference line L2. The generation processing unit 112 stores the generated second reference line L2 in the storage unit 51. Thus, for example, for a rectangular field F, the operator can perform the operation along only one side ( Fig.9A The registration operation of the first reference line L1 along the left and right sides of the other sides ( Fig.9A The second reference line L2 (upper and lower sides) of the .

[0104] In addition, the generation processing unit 112 may also combine the second reference line L2 with the reference line operation unit 33b (see Figure 7 ) Establish correspondence and register.

[0105] As another embodiment, the generation processing unit 112 may generate a straight line along the outline of the field F (work area) as the second reference line L2. For example, the generation processing unit 112 calculates the angle D1 based on the outline of the field F and generates the second reference line L2 based on the angle D1 and the first reference line L1.

[0106] In addition, as another embodiment, the generation processing unit 112 may receive an input operation of the angle D1 from the operator, and generate the second reference line L2 based on the input angle D1 and the first reference line L1.

[0107] The generation processing unit 112 stores the first reference line L1 and the second reference line L2 in the storage unit 51 in a selectable manner. When the combine harvester 1 starts automatic driving, the control device 11 selects either the first reference line L1 or the second reference line L2 based on the operator's selection operation or the position information of the combine harvester 1, the vehicle orientation, etc. The generation processing unit 112 generates an automatic driving path (target path) based on the selected first reference line L1 or second reference line L2. For example, if the operator selects the reference line operation unit 33a corresponding to the first reference line L1 (see Figure 7 ), the generation processing unit 112 generates an automatic driving path (target path) based on the first reference line L1. When the generation mode of the target path is set to the "equal spacing mode", as Fig.9AAs shown, the generation processing unit 112 generates a target path R1 composed of a plurality of straight lines parallel to the first reference line L1. In addition, the generation processing unit 112 generates a plurality of parallel straight lines at equal intervals with the first reference line L1 as a reference based on a preset working width and overlapping width (the width of the overlap with the adjacent working end area). The generation processing unit 112 stores the generated target path R1 in the storage unit 51. If the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 are within a specified range (a state in which the start condition is satisfied) with respect to any one of the plurality of parallel straight lines generated, and the operator presses the automatic driving instruction unit 31, the driving processing unit 111 starts the automatic driving and causes the combine harvester 1 to drive straight along the target path R1 (refer to Fig.10 ). Fig.10 The target path R1 shown corresponds to any one of a plurality of parallel straight lines generated based on the first reference line L1.

[0108] When the combine harvester 1 reaches the target end position of the target path R1 (straight path), the operator switches to the manual driving mode and drives the combine harvester 1 manually. In addition, the driving processing unit 111 may switch the driving mode to the manual driving mode when the combine harvester 1 reaches the target end position of the straight path or when the harvesting unit 3 rises to the non-operating position. If the driving mode is switched to the manual driving mode, for example, Fig.10 As shown, the operator drives the combine harvester 1 manually and directs the vehicle in the direction of the second reference line L2 ( Fig.10 When the automatic driving path (target path) is aligned in the manner of the left direction of the vehicle, the second reference line L2 is selected. The generation processing unit 112 generates an automatic driving path (target path) based on the second reference line L2. For example, when the generation mode of the target path is set to the "equal spacing mode", as shown in FIG. Fig. 9B As shown, the generation processing unit 112 generates a target path R2 composed of a plurality of straight lines parallel to the second reference line L2. The generation processing unit 112 stores the generated target path R2 in the storage unit 51. If the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 are within a predetermined range relative to any one of the plurality of parallel straight lines generated (a state where the start condition is satisfied), and the operator presses the automatic driving instruction unit 31, the driving processing unit 111 starts the automatic driving and causes the combine harvester 1 to drive straight along the target path R2 (refer to Fig.10 ).also, Fig.10 The target path R2 shown corresponds to any one of the plurality of parallel straight lines generated based on the second reference line L2. Fig.10 The "P1" indicates the starting point for automatic driving.

[0109] Here, due to the shape of the field F, the working conditions of the working object (here, the rice stalks), etc., there is a case where it is desired to make the combine harvester 1 travel on a path that is offset from the target path R2. In this case, the operator can make the combine harvester 1 automatically travel based on the target path R2 while performing an operation to shift the target path R2 in the left and right directions through the operating member (path offset operation). Thus, for example, Fig.10 As shown in FIG. 1 , the operator can move the combine harvester 1 to a position P2 deviated from the target end position P0 corresponding to the target route R2.

[0110] Thus, when the operator performs an operation to shift the travel path of the combine harvester 1 relative to the target path R2 corresponding to the pre-generated second reference line L2, it is highly likely that the shifted path is the path intended by the operator. That is, in the above example, it is appropriate to set the target path as follows: when the combine harvester 1 is in the first direction ( Fig.9A When the combine harvester 1 is traveling in the second direction ( Fig.9A When traveling in the left or right direction), the vehicle automatically travels along a path obtained by changing the orientation of the second reference line L2.

[0111] As described above, in the prior art, when the second reference line L2 is changed, the operation of re-registering through the operating device 30 is time-consuming and laborious. In addition, if the first reference line L1 is re-registered in order to change the second reference line L2, the problem of also changing the first reference line L1 also arises. Therefore, the correction processing unit 113 has a structure that corrects the second reference line L2 when the combine harvester 1 receives a prescribed correction operation while automatically traveling based on the second reference line L2.

[0112] Specifically, when the combine harvester 1 automatically travels along the target path R2 corresponding to the second reference line L2, when the operator performs an operation (correction operation) to correct the path of the combine harvester 1, the correction processing unit 113 corrects the second reference line L2 to a straight line (corrected reference line L21) passing through the starting point P1 and the terminal point P2 according to the correction operation (refer to Fig.10 ). That is, when the correction processing unit 113 receives the correction operation, it changes the orientation of the second reference line L2 to the orientation corresponding to the correction operation. The correction processing unit 113 may store the corrected reference line L21 in the storage unit 51 instead of the second reference line L2, or may store the corrected reference line L21 together with the second reference line L2 in the storage unit 51. For example, the correction processing unit 113 stores the corrected reference line L21 with the reference line operation unit 33b (refer to Figure 7 ) Establish correspondence and register.

[0113] In addition, when the configuration is such that three or more reference lines (e.g., the first reference line L1, the second reference line L2, and the corrected reference line L21) are stored in a selectable manner, the operating device 30 may also include an operating unit corresponding to each reference line. Thus, the operator can select a desired reference line from the three or more reference lines in the operating device 30 to perform automatic driving. That is, the control device 11 stores the first reference line L1, the second reference line L2, and the corrected reference line L21 obtained by correcting the second reference line L2, and generates a target path based on the reference line selected when the combine harvester 1 starts automatic driving.

[0114] The above-mentioned correction operation includes at least any one of the following operations: an operation of shifting the path (target path R2) corresponding to the second baseline L2 while the combine harvester 1 is automatically traveling based on the second baseline L2 (path offset operation); an operation of registering the end point while the combine harvester 1 is automatically traveling based on the second baseline L2 (pressing operation of the end point setting unit 36 ​​(point B registration operation)); an operation of ending the automatic driving based on the second baseline L2; and an operation of moving the working part (harvesting part 3) to a non-working position while the combine harvester 1 is automatically traveling based on the second baseline L2 and is operating.

[0115] For example, when the combine harvester 1 is automatically traveling along the target path R2 corresponding to the second reference line L2, if the operator performs a path deviation operation, after the automatic travel is completed, the end point setting unit 36 ​​(see Figure 7 ), the correction processing unit 113 generates a straight line (corrected reference line L21) connecting the vehicle position (terminal end P2) and the starting end P1 of the combine harvester 1 at that time.

[0116] In addition, for example, when the combine harvester 1 is automatically traveling along the target path R2 corresponding to the second reference line L2, if the operator performs a path offset operation, and after the automatic driving is completed, the operator performs an operation to raise the harvesting unit 3 to the non-operating position, the correction processing unit 113 generates a straight line (corrected reference line L21) connecting the vehicle position (terminal end P2) and the starting end P1 of the combine harvester 1 at that moment.

[0117] The correction processing unit 113 registers the generated corrected baseline L21 as the baseline corresponding to the baseline operation unit 33b. As a result, the operator can press the baseline operation unit 33b (refer to Figure 7 ) to select the corrected reference line L21. When the corrected reference line L21 is selected, the generation processing unit 112 generates a target path consisting of a plurality of straight lines parallel to the corrected reference line L21. Thus, the combine harvester 1 can automatically travel along the corrected target path.

[0118] As described above, the control device 11 generates the first baseline L1 according to the operation of the operator, and automatically generates the second baseline L2 based on the first baseline L1, and when the combine harvester 1 receives a prescribed correction operation while automatically traveling on the second baseline L2, the control device 11 performs a process of correcting the second baseline L2. As another embodiment, the control device 11 may also generate the first baseline L1 and the second baseline L2 according to the operation of the operator, and when the combine harvester 1 receives a prescribed correction operation while automatically traveling on the second baseline L2, the control device 11 performs a process of correcting the second baseline L2. In addition, as another embodiment, the control device 11 may also perform a process of correcting the first baseline L1 when the combine harvester 1 receives a prescribed correction operation while automatically traveling on the first baseline L1 in the case of the above-mentioned structures.

[0119] In the above embodiment, the structure in which the target path generation mode is set to the "equal spacing mode" is described, but as another embodiment, the target path generation mode may be set to the "own vehicle position reference mode". Hereinafter, a specific example of the start sequence of automatic driving in the case where the target path is generated by the "own vehicle position reference mode" is described.

[0120] First, the control device 11 generates and registers the baseline L by the above-mentioned method (first generation mode to fourth generation mode). Next, the control device 11 selects the baseline L. For example, when a plurality of baselines L (such as the first baseline L1, the second baseline L2, etc.) are registered, the control device 11 selects any one of the baselines 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 (such as a straight path) (parallel line) parallel to the selected baseline L, and sets the generated path to the current position (reference point) of the combine harvester 1. In addition, if the above-mentioned path is set to the above-mentioned reference point, for example, when the combine harvester 1 is moved by the manual steering operation of the operator, the above-mentioned path moves in parallel with the baseline L in a manner of following the above-mentioned reference point. Next, the operator performs manual driving in a manner that the vehicle orientation of the combine harvester 1 is within a specified range relative to the above-mentioned path (satisfying the start condition of automatic driving). When the operator presses the automatic driving instruction unit 31 while the combine harvester 1 satisfies the start conditions for automatic driving, the control device 11 sets the path at the position at that time as the target path R, and causes the combine harvester 1 to start automatic driving along the target path R. In addition, in the above-mentioned process, an icon image simulating the combine harvester 1 and an image of the path (parallel line) parallel to the reference line L may be displayed on the display screen.

[0121] Other examples of the start sequence of automatic driving are described. For example, similarly to the above example, after the control device 11 generates and selects the reference line L, the operator performs manual driving in 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 condition of automatic driving). Next, if the operator presses the automatic driving indication unit 31 when the combine harvester 1 satisfies the start condition of automatic driving, the control device 11 generates a path (e.g., 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.

[0122] [Driving Process]

[0123] Below, refer to Fig.11 , an example of the above-mentioned driving process executed by the driving system involved in the first embodiment is described.

[0124] In addition, the present invention can be understood as the 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 execution order of each step in the above-mentioned driving process can also be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes each step in the above-mentioned driving process is cited as an example for explanation, but a driving method in which one or more processors execute each step in the driving process in a distributed manner can also be considered as another embodiment. In addition, the driving method corresponding to the above-mentioned driving process is an example of the path generation method of the present invention.

[0125] In step S11, the control device 11 determines whether the combine harvester 1 is in a state where it can travel automatically. If the control device 1 determines that the combine harvester 1 is in a state where it can travel automatically (S11: Yes), the process moves to step S12. The control device 11 waits until the combine harvester 1 becomes in a state where it can travel automatically (S11: No).

[0126] In step S12, the control device 11 starts the combine harvester 1 to automatically travel along the target route R. For example, if the operator selects the reference line operation unit 33a (see Figure 7 ), the control device 11 generates an automatic driving path (target path R1) based on the first reference line L1 (refer to Fig.9A ), so that the combine harvester 1 travels straight along the target path R1 (refer to Fig.10). In addition, the control device 11 generates the first reference line L1 by any one of the methods in the above-mentioned first generation mode to the fourth generation mode. In addition, for example, when the generation mode of the target path is set to the "equal spacing mode", the control device 11 generates a plurality of straight lines parallel to the first reference line L1. If the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 are within a specified range (a state in which the start condition is satisfied) relative to any one of the plurality of parallel straight lines that have been generated, the operator presses the automatic driving indication unit 31, and the automatic driving is started, so that the combine harvester 1 drives straight along the target path R1 (refer to Fig.10 ).

[0127] When the target path generation mode is set to the "vehicle position reference mode", for example, if the operator selects the first reference line L1, the control device 11 generates a straight line (target path R1) passing through the vehicle position of the combine harvester 1 and parallel to the first reference line L1. If the combine harvester 1 meets the start conditions for automatic driving, the operator presses the automatic driving indication unit 31, the automatic driving starts, and the combine harvester 1 drives straight along the target path R1.

[0128] Next, in step S13, the control device 11 determines whether to start the combine harvester 1 to automatically drive along the second reference line L2. For example, if the combine harvester 1 reaches the target end position of the target path R1 (straight path), the operator switches to the manual driving mode to drive the combine harvester 1 manually. Fig.10 As shown, the operator manually drives the combine harvester 1 so that the vehicle orientation faces the direction of the next path ( Fig.10 The control device 11 generates a target path R2 (refer to the left direction) based on the second reference line L2. Fig. 9B ), so that the combine harvester 1 travels straight along the target path R2 (refer to Fig.10 ).

[0129] For example, when the target path generation mode is set to the "equal spacing mode", the control device 11 generates a plurality of straight lines parallel to the second reference line L2. If the vehicle orientation and position deviation (lateral offset) of the combine harvester 1 are within a specified range relative to any one of the generated plurality of parallel straight lines (a state where the start condition is satisfied), the operator presses the automatic driving instruction unit 31, and the automatic driving is started, so that the combine harvester 1 drives straight along the target path R2 (refer to Fig.10 ).

[0130] When the target path generation mode is set to the "vehicle position reference mode", for example, if the operator selects the second reference line L2, the control device 11 generates a straight line (target path R2) that passes through the vehicle position of the combine harvester 1 and is parallel to the second reference line L2. If the operator presses the automatic driving instruction unit 31 when the combine harvester 1 meets the start conditions for automatic driving, the automatic driving is started and the combine harvester 1 is driven straight along the target path R2. When the control device 1 does not start the automatic driving of the combine harvester 1 along the second reference line L2 (S13: No), the process moves to step S16.

[0131] In step S14, the control device 11 determines whether a correction operation is received. The correction operation includes at least one of a path offset operation, a registration operation of point B, an end operation of automatic driving, and an operation of raising the harvesting unit 3. If the control device 11 receives the correction operation (S14: Yes), the process moves to step S15. On the other hand, if the control device 11 does not receive the correction operation (S14: No), the process moves to step S16.

[0132] In step S15, the control device 11 corrects the second reference line L2. Specifically, the control device 11 changes the orientation of the second reference line L2 according to the correction operation. For example, if the combine harvester 1 is automatically traveling along the target path R2 corresponding to the second reference line L2, and the operator performs a path offset operation, after the automatic travel is completed, the end point setting unit 36 ​​(see Figure 7 ), the control device 11 generates a straight line (corrected reference line L21) connecting the vehicle position of the combine harvester 1 at that moment (terminal end P2) and the position where the combine harvester 1 starts to travel automatically (starting end P1).

[0133] The control device 11 may delete the second reference line L2 and store the corrected reference line L21 in the storage unit 51, or may keep storing the second reference line L2 and store the corrected reference line L21 in the storage unit 51. In addition, the control device 11 may register the corrected reference line L21 as being associated with the reference line operation unit 33b (see Figure 7 That is, the control device 11 compares the first reference line L1 with the operating device 30 (refer to Figure 7) establishes a correspondence with and registers the baseline operating unit 33a of the operating device 30, and establishes a correspondence with and registers the corrected baseline L21 with the baseline operating unit 33b of the operating device 30. As another embodiment, the control device 11 may also establish a correspondence with and register the baseline selected by the operator among the second baseline L2 and the corrected baseline L21 with the baseline operating unit 33b. In addition, as another embodiment, when the operating device 30 has three baseline setting units, the control device 11 may also establish a correspondence with and register the first baseline L1, the second baseline L2, and the corrected baseline L21 with each baseline setting unit.

[0134] In step S16, the control device 11 determines whether the combine harvester 1 has finished working. If the control device 11 determines that the combine harvester 1 has finished working (S16: Yes), the above-mentioned travel process ends. If the control device 11 determines that the combine harvester 1 has not finished working (S16: No), the control device 11 returns to step S13 to execute the above-mentioned process.

[0135] For example, when the operator selects the reference line operation unit 33b corresponding to the corrected reference line L21 and presses the automatic travel instruction unit 31, the control device 11 causes the combine harvester 1 to travel straight along the target path corresponding to the corrected reference line L21.

[0136] The control device 11 repeatedly executes the processing of steps S13 to S15 until the combine harvester 1 finishes the operation. In addition, when the combine harvester 1 receives the above correction operation while automatically traveling based on the corrected reference line L21, the control device 11 may correct the corrected reference line L21 according to the above processing.

[0137] As described above, the combine harvester 1 according to the first embodiment generates a target path for automatic travel based on the reference line set in the field F. In addition, the combine harvester 1 generates the first reference line L1 set in the field F, and generates the second reference line L2 based on the first reference line L1. In addition, when the combine harvester 1 receives a predetermined correction operation while automatically traveling based on the second reference line L2, it corrects the second reference line L2.

[0138] According to the above structure, when the combine harvester 1 is automatically traveling based on the second baseline L2 and a prescribed correction operation is performed, the second baseline L2 is corrected, and the second baseline L2 is automatically generated based on the first baseline L1 generated according to the setting operation of the operator. Thus, for example, when the operator corrects the driving position by shifting the path while the combine harvester 1 is automatically traveling along the second baseline L2, the second baseline L2 can be automatically corrected. Therefore, the operator does not need to perform an operation to regenerate the baseline in order to correct the second baseline L2 (refer to Figures 8A to 8D). Therefore, it is possible to easily generate a target path for the combine harvester 1 to automatically travel.

[0139] The present invention is not limited to the above-mentioned embodiment. Other embodiments of the present invention will be described below.

[0140] As another embodiment of the present invention, the control device 11 may generate a target path based on the distance between the current position of the combine harvester 1 and the reference line. Fig.12 , the pre-generated second reference line L2 and the corrected reference line L21 are shown. For example, when the combine harvester 1 is located at a position less than a specified distance E1 (e.g., 5 m) from the corrected reference line L21, and the vehicle orientation of the combine harvester 1 is less than the specified orientation relative to the corrected reference line L21, when the operator gives an instruction to start automatic driving, the control device 11 generates a target path based on the corrected reference line L21. In contrast, when the combine harvester 1 is located at a position more than a specified distance E1 from the corrected reference line L21, and the vehicle orientation of the combine harvester 1 is less than the specified orientation relative to the second reference line L2, when the operator gives an instruction to start automatic driving, the control device 11 generates a target path based on the second reference line L2. In addition, the control device 11 may also generate a target path based on the vehicle orientation of the combine harvester 1. For example, when the vehicle orientation of the combine harvester 1 is less than the specified orientation relative to the corrected reference line L21, when the operator issues an instruction to start automatic driving, the control device 11 generates a target path based on the corrected reference line L21. When the vehicle orientation of the combine harvester 1 is greater than the specified orientation relative to the corrected reference line L21, when the operator issues an instruction to start automatic driving, the control device 11 generates a target path based on the second reference line L2. In addition, the control device 11 may set a weight for at least one of the current position of the combine harvester 1 and the distance from the reference line, and the vehicle orientation of the combine harvester 1, and generate a target path based on the reference line selected according to the set weight.

[0141] Fig.13 , an example of a driving method of the combine harvester 1 is shown. For example, the combine harvester 1 automatically drives along the target path R1 corresponding to the first reference line L1 on the working path r1, automatically drives along the target path corresponding to the corrected reference line L21 on the working path r2, automatically drives along the target path R1 corresponding to the first reference line L1 on the working path r3, and automatically drives along the target path R2 corresponding to the second reference line L2 on the working path r4.

[0142] In addition, for example, when the combine harvester 1 receives the above-mentioned correction operation while automatically traveling on the working path r2, the control device 11 may further correct the corrected reference line L21. In this case, the control device 11 may delete the corrected reference line L21 that has been corrected initially, store the corrected reference line L21 obtained by the second correction in the storage unit 51, or store the two corrected reference lines L21 before and after the correction in the storage unit 51 in a selectable manner.

[0143] In addition, for example, Fig.14 In the case of the field F shown, the control device 11 preferably generates the corrected reference lines L21 of different orientations on the upper side and the lower side of the field F. In this case, the control device 11 generates two corrected reference lines L21 of different orientations based on the second reference line L2, and stores each in the storage unit 51 in a selectable manner.

[0144] As another embodiment, for example, when Fig.14 In the field F shown in the figure, after the combine harvester 1 has been working in the left-right direction in the upper area of ​​the figure, it is now working in the left-right direction in the lower area. Fig.15 As shown, the control device 11 may automatically drive the combine harvester 1 based on the corrected reference line L21 or the second reference line L2 in the upper region, and may automatically drive the combine harvester 1 based on the corrected reference line L22 or the second reference line L2 in the lower region.

[0145] In addition, if Fig.15 As shown, when a plurality of corrected reference lines L21 and L22 are registered, the control device 11 selects a reference line based on the distance and orientation of the combine harvester 1 relative to each reference line and generates a target route.

[0146] As another embodiment, information corresponding to the target path generation mode ("equal spacing mode", "vehicle position reference mode") may be displayed on the display unit (the above-mentioned operation terminal, etc.). For example, in the equal spacing mode, the control device 11 may display the selected baseline among all baselines and the path (target path) parallel to the baseline, or may display all baselines and the path (target path) parallel to the selected baseline, or may display all baselines and all paths (target paths) parallel to each baseline. In addition, when all baselines and all paths corresponding to each baseline are displayed at the same time, the control device 11 may also make the display method (e.g., line color, line type, etc.) of the selected baseline and the path (target path) generated based on the baseline different from that of other baselines and paths.

[0147] In addition, for example, in the vehicle position reference mode, the control device 11 may display only the selected baseline among all the baselines, or may display all the baselines and display the selected baselines and the unselected baselines in different ways (e.g., line colors, line types, etc.). In addition, in the vehicle position reference mode, the control device 11 may display the path on the display unit after the operator presses the automatic driving instruction unit 31 to determine the path, or may always display the path parallel to the baseline based on the vehicle position from before the automatic driving instruction unit 31 is pressed. In this case, the control device 11 may further make the color of the path displayed on the display unit different before and after the automatic driving instruction unit 31 is pressed.

[0148] [Implementation Method 2]

[0149] A travel system according to a second embodiment of the present invention will be described. In addition, hereinafter, the same components as those of the travel system and the combine harvester 1 according to the first embodiment are denoted by the same reference numerals, and description thereof will be appropriately omitted.

[0150] The combine harvester 1 involved in this embodiment 2 has the following structure: generating multiple baselines with different directions from each other, when receiving a setting operation of a new baseline after generating the above-mentioned multiple baselines, determining the baseline of the correction object among the above-mentioned multiple baselines, and correcting the determined baseline to a position corresponding to the above-mentioned setting operation.

[0151] Specifically, the generation processing unit 112 generates a plurality of reference lines of different orientations according to the operation of the operator. For example, the generation processing unit 112 generates the first reference line L1 based on the operation of the operator on the operating device 30 (registration operation of the first starting point A1 and the first end point B1). In addition, the generation processing unit 112 generates the second reference line L2 based on the first reference line L1. For example, the generation processing unit 112 generates the second reference line L2 orthogonal to the first reference line L1.

[0152] After the generation processing unit 112 generates the first reference line L1 and the second reference line L2 and stores them in the storage unit 51 , it receives a generation operation of the reference line from the operator through the operation device 30 .

[0153] For example, in the case of the first generation mode described above in which the reference line is generated based on the registration operation of the starting point A and the end point B, FIG. 16A to FIG. 16D As shown, similarly to the first reference line L1, the operator operates the operating device 30 to register a new reference line. For example, the operator presses the reference line operating unit 33b of the operating device 30. As a result, the reference line display unit 34b lights up (see Fig.16A When the operator moves the combine harvester 1 to any position (for example, the end) of the field F, he presses the starting point setting unit 35 (see Fig.16AThe generation processing unit 112 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 ( Fig.17 If the generation processing unit 112 registers the second starting point A2, the starting point setting display unit 37 lights up the LED (see Fig. 16B ). After that, the operator drives the combine harvester 1 manually and presses the end point setting unit 36 ​​(see Fig. 16C The generation processing unit 112 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 ( Fig.17 If the generation processing unit 112 registers the second destination B2, the destination setting display unit 38 and the automatic driving display unit 32 light up their LEDs (see Fig.16D ).

[0154] If the second starting point A2 and the second end point B2 are registered, the generation processing unit 112 generates a straight line connecting the second starting point A2 and the second end point B2 as a new reference line. In addition, the generation method of the new reference line is not limited thereto. As described above, the generation processing unit 112 may generate the reference line using the second generation mode for generating the reference line based on the starting point A and the vehicle azimuth, the third generation mode for generating the reference line based on the starting point A and the set azimuth, or the fourth generation mode for generating the reference line based on the outer shape of the field F.

[0155] Here, the correction processing unit 113 changes any one of the first baseline L1 and the second baseline L2 that have been generated to the position of the new baseline. Specifically, when the setting operation of the new baseline received after generating multiple baselines satisfies the specified conditions, the correction processing unit 113 determines at least one baseline of the multiple baselines to be corrected, and corrects the determined baseline to the position corresponding to the setting operation. For example, the correction processing unit 113 corrects the orientation of at least one of the first baseline L1 and the second baseline L2 based on the orientation of the new baseline.

[0156] Specifically, when the angle D2 formed by the second reference line L2 and the new reference line is less than a predetermined angle, the correction processing unit 113 corrects the second reference line L2 to the position of the new reference line. In other words, when the angle formed by the first reference line L1 and the new reference line is greater than a predetermined angle, the correction processing unit 113 corrects the second reference line L2 to the position of the new reference line. Fig.17As shown in FIG. 1 , when the angle D2 formed by the second baseline L2 and the new baseline La is less than the predetermined angle Dth (e.g., 45 degrees), the correction processing unit 113 corrects the second baseline L2 to the position of the baseline La. That is, the correction processing unit 113 registers the straight line connecting the second starting point A2 and the second end point B2 as the second baseline L2. The correction processing unit 113 stores the corrected second baseline L2 in the storage unit 51 and stores it with the baseline operation unit 33b (see FIG. 1 ). Figure 7 ) Establish correspondence and register.

[0157] In addition, if Fig.18 As shown in FIG. 1 , when the angle D2 formed by the second reference line L2 and the new reference line La is greater than the predetermined angle Dth, the correction processing unit 113 corrects the first reference line L1 to the position of the new reference line. That is, the correction processing unit 113 registers the straight line connecting the second starting point A2 and the second end point B2 as the first reference line L1. The correction processing unit 113 stores the corrected first reference line L1 in the storage unit 51 and stores it with the reference line operation unit 33a (see FIG. 1 ). Figure 7 ) Establish correspondence and register.

[0158] In this way, when the correction processing unit 113 receives a setting operation of a new baseline after generating a plurality of baselines, it determines the baseline to be corrected among the plurality of baselines, and corrects the determined baseline to a position corresponding to the setting operation. In addition, the correction processing unit 113 corrects the baseline with the smaller orientation difference from the new baseline among the plurality of baselines.

[0159] According to the above configuration, for example, when the control device 11 is configured to register two baselines and the two baselines have been registered, if the operator performs a registration operation for a third baseline, the baseline of the two baselines to be corrected is automatically determined, and the baseline is changed to a position corresponding to the registration operation. Thus, the operator can easily change the baseline, so it is easy to generate a target path for the combine harvester 1 to automatically travel.

[0160] As another embodiment, the correction processing unit 113 may also accept an operation of selecting to correct the first baseline L1 to the position of the new baseline La or to register the new baseline La as the third baseline (third baseline L3) when the angle D2 formed by the second baseline L2 and the new baseline La is greater than a specified angle Dth.

[0161] In addition, as another embodiment, the correction processing unit 113 may register the new baseline La as the third baseline L3 when the angle D2 formed by the second baseline L2 and the new baseline La is greater than the predetermined angle Dth. For example, when the angle D2 formed by the second baseline L2 and the new baseline La is greater than the predetermined angle Dth, and the distance X1 between the first baseline L1 and the new baseline La is less than the predetermined distance, the correction processing unit 113 corrects the first baseline L1 to the position of the new baseline La (see Fig.18 ). On the other hand, when the angle D2 formed by the second reference line L2 and the new reference line La is greater than the predetermined angle Dth, and the distance X1 between the first reference line L1 and the new reference line La is greater than the predetermined distance, as shown in FIG. Fig.19 As shown, the correction processing unit 113 registers (sets) the reference line La as the third reference line L3.

[0162] In addition, as another embodiment, for example, Fig.18 In the example shown, when the first baseline L1 and the second baseline L2 are generated, after the combine harvester 1 automatically travels at least once along the target path R2 corresponding to the second baseline L2, when the operator performs an operation to register a new baseline La, the correction processing unit 113 determines that the second baseline L2 is the path intended by the operator, and thus only corrects the first baseline L1 to the position of the baseline La, and does not correct the second baseline L2 from a position orthogonal to the initially set first baseline L1, but maintains the second baseline L2.

[0163] In contrast, when the first reference line L1 and the second reference line L2 are generated, before the combine harvester 1 automatically travels along the target path R2 corresponding to the second reference line L2, if the operator performs an operation to register a new reference line La, the correction processing unit 113 determines that the first reference line L1 and the second reference line L2 are not the paths intended by the operator, and corrects the first reference line L1 to the position of the reference line La, and regenerates (corrects) the second reference line L2 orthogonal to the corrected first reference line L1. In this way, the correction processing unit 113 may also determine all of the multiple reference lines as the reference lines to be corrected when a new reference line setting operation is received after generating multiple reference lines, and correct each reference line to a position corresponding to the above-mentioned setting operation. That is, in the present invention, the correction processing unit 113 may also determine at least one reference line to be corrected among the multiple reference lines when a new reference line setting operation is received after generating multiple reference lines, and correct the determined at least one reference line to a position corresponding to the above-mentioned setting operation.

[0164] [Path generation processing]

[0165] Below, refer to Fig. 20 , an example of a route generation process performed by the driving system involved in the second embodiment is described.

[0166] In addition, the present invention can be understood as the invention of a path generation method for executing one or more steps included in the above-mentioned path generation process. In addition, one or more steps included in the above-mentioned path generation process described here can also be appropriately omitted. In addition, the execution order of each step in the above-mentioned path generation process can also be different within the scope of producing the same effect. Moreover, the case where the control device 11 of the combine harvester 1 executes each step in the above-mentioned path generation process is cited here as an example for explanation, but a path generation method in which one or more processors execute each step in the path generation process in a distributed manner can also be considered as another embodiment. A path generation program for causing the control device 11 to execute the path generation process is stored in the storage unit 51. In addition, the path generation method corresponding to the above-mentioned path generation process is an example of the path generation method of the present invention.

[0167] In step S21, the control device 11 determines whether a start instruction for route generation is received. If the control device 11 receives a start instruction for route generation (S21: Yes), the process proceeds to step S22. The control device 11 waits until a start instruction for route generation is received (S21: No).

[0168] In step S22, the control device 11 determines whether the registration operation of the first starting point A1 and the first end point B1 is received. For example, the operator presses the reference line operation unit 33a of the operation device 30 to start the path generation, registers the first starting point A1 and the first end point B1 (see Figures 8A to 8D ). If the control device 11 receives the registration operation of the first starting point A1 and the first end point B1 (S22: Yes), the process moves to step S23. The control device 11 waits until the registration operation of the first starting point A1 and the first end point B1 is received (S22: No).

[0169] In step S23, the control device 11 generates a first reference line L1. Specifically, the control device 11 generates a straight line connecting the first starting point A1 and the first end point B1 (first generation mode), and registers the generated straight line as the first reference line L1 (refer to Fig.9A ). The control device 11 stores the generated first reference line L1 in the storage unit 51. In addition, the control device 11 may generate the first reference line L1 by a second generation mode for generating a reference line based on the starting point A and the vehicle azimuth, a third generation mode for generating a reference line based on the starting point A and the set azimuth, or a fourth generation mode for generating a reference line based on the shape of the field F.

[0170] Next, in step S24 , the control device 11 generates the second reference line L2 . Specifically, the control device 11 generates the second reference line L2 that is orthogonal to the first reference line L1 . The control device 11 stores the generated second reference line L2 in the storage unit 51 .

[0171] Next, in step S25, the control device 11 determines whether the registration operation of the second starting point A2 and the second end point B2 is received. For example, in the first generation mode, the operator presses the baseline operation unit 33b of the operation device 30 to start the path generation, registers the second starting point A2 and the second end point B2 (refer to FIG. 16A to FIG. 16D ). If the control device 11 receives the registration operation of the second starting point A2 and the second end point B2 (S25: Yes), the process moves to step S26. If the control device 11 does not receive the registration operation of the second starting point A2 and the second end point B2 (S25: No), the control device 11 ends the above-mentioned path generation process. In addition, the control device 11 may determine whether the registration operation of the second starting point A2 is received in the case of the above-mentioned second generation mode, and determine whether the registration operation of the second starting point A2 and the setting azimuth is received in the case of the above-mentioned third generation mode.

[0172] In step S26, the control device 11 determines whether the correction condition (the prescribed condition of the present invention) is satisfied. For example, the control device 11 generates a straight line connecting the second starting point A2 and the second end point B2 as a new baseline La (first generation mode), and when the angle D2 formed by the baseline La and the first baseline L1 or the second baseline L2 is less than the prescribed angle Dth, and the distance between the baseline La and the first baseline L1 or the second baseline L2 is less than the prescribed distance, it is determined that the correction condition is satisfied (S26: Yes). If the control device 11 determines that the correction condition is satisfied (S26: Yes), the processing moves to step S27. On the other hand, if the control device 11 determines that the correction condition is not satisfied (S26: No), the processing moves to step S261. In addition, the control device 11 can also generate the above-mentioned new baseline La through the above-mentioned second generation mode or the above-mentioned third generation mode.

[0173] In step S27, the control device 11 determines the baseline of the correction object. Fig.17 As shown in FIG. 1 , when the angle D2 formed by the second reference line L2 and the new reference line La is less than a predetermined angle Dth (for example, 45 degrees), the control device 11 determines the second reference line L2 as the reference line to be corrected. Fig.18 As shown, when the angle D2 formed by the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth, the control device 11 determines the first reference line L1 as the reference line to be corrected.

[0174] In addition, for example, when the angle D2 formed by the second baseline L2 and the new baseline La is greater than the specified angle Dth and the distance X1 between the first baseline L1 and the new baseline La is less than the specified distance, the control device 11 determines the first baseline L1 as the baseline to be corrected.

[0175] Next, in step S28, the control device 11 corrects the determined reference line to be corrected. Specifically, when the control device 11 determines the second reference line L2 as the reference line to be corrected, the control device 11 corrects the second reference line L2 to the position of the reference line La (refer to Fig.17 ). In addition, when the control device 11 determines the first reference line L1 as the reference line to be corrected, the control device 11 corrects the first reference line L1 to the position of the reference line La (refer to Fig.18 ).

[0176] On the other hand, when the correction condition is not satisfied in step S26 (S26: No), in step S261, the control device 11 registers (sets) the reference line La as the third reference line L3. Fig.19 As shown, when the angle D2 formed by the second reference line L2 and the new reference line La is greater than a specified angle Dth and the distance X1 between the first reference line L1 and the new reference line La is greater than a specified distance, the control device 11 registers the reference line La as the third reference line L3.

[0177] After steps S28 and S261, the control device 11 ends the above-mentioned path generation process. The control device 11 executes the above-mentioned path generation process every time the control device 11 receives a reference line registration operation from the operator.

[0178] As described above, the combine harvester 1 according to the second embodiment generates a reference line for automatic travel in the field F. In addition, the combine harvester 1 generates a plurality of reference lines in different directions from each other, and when a setting operation of a new reference line received after generating the plurality of reference lines satisfies a predetermined condition, at least one reference line to be corrected among the plurality of reference lines is determined, and the determined reference line is corrected to a position corresponding to the setting operation.

[0179] According to the above structure, when a plurality of baselines are set, when the operator performs a setting operation to set a new baseline, the position of a predetermined baseline among the plurality of baselines that have been set is corrected to a position corresponding to the setting operation. Thus, the operator can correct the baseline that has been set, and easily generate a target path based on the corrected baseline.

[0180] In the prior art, for example, when re-registering a baseline to generate a target path, the operator has to select any one of the baselines that have been registered, delete it, and then perform a setting operation for a new baseline, which is time-consuming and laborious. In contrast, according to the structure involved in the present embodiment, when a plurality of baselines are set, when the operator performs a setting operation to set a new baseline, the baseline of the correction object among the plurality of baselines that have been set is determined, and the position of the baseline is corrected to a position corresponding to the setting operation. As a result, the operator does not need to delete or correct the baseline that has been set, and can appropriately select the baseline to be corrected and perform correction processing, and generate the target path based on the corrected baseline. Therefore, it is possible to easily generate a target path for the combine harvester 1 to automatically travel.

[0181] As another embodiment, the control device 11 may also pre-generate two baselines (a first baseline L1 and a second baseline L2) according to the setting operation of the operator in the operating device 30, and then, when receiving a new baseline setting operation from the operator, determine the baseline of the correction object among the two baselines, correct the determined baseline to a position corresponding to the above setting operation, or register it as the third baseline.

[0182] The combine harvester of the present invention may also have a structure that combines the structure involved in the above-mentioned embodiment 1 and the structure involved in the embodiment 2. For example, the control device 11 of the combine harvester 1 may also have: in the path generation stage, after generating one or more baselines, a structure that corrects the generated baseline based on the operator's setting operation of the new baseline (equivalent to embodiment 2); and in the automatic driving stage, when the combine harvester 1 is automatically driven according to the target path corresponding to the baseline, a structure that corrects the baseline based on the operator's correction operation (equivalent to embodiment 1).

[0183] [Note 1 of the invention]

[0184] The following is a supplementary note of the invention extracted from the above-mentioned Embodiment 1. In addition, each structure and each processing function described in the following supplementary note can be combined arbitrarily by selection and rejection.

[0185] <Note 1>

[0186] A path generation method is a path generation method for generating a target path for a working vehicle to automatically travel based on a baseline, wherein:

[0187] generating a prescribed first baseline;

[0188] Generate a second reference line based on the first reference line; and

[0189] When the work vehicle receives a predetermined correction operation while automatically traveling based on the second reference line, the second reference line is corrected.

[0190] <Note 2>

[0191] The path generation method according to Note 1, wherein:

[0192] The second reference line is a line perpendicular to the first reference line.

[0193] <Note 3>

[0194] A path generation method according to Note 1 or 2, wherein:

[0195] The second reference line is a line along the outline of the work area.

[0196] <Note 4>

[0197] A path generation method according to any one of Notes 1 to 3, wherein:

[0198] When the correction operation is received, the orientation of the second reference line is changed to an orientation corresponding to the correction operation.

[0199] <Note 5>

[0200] A path generation method according to any one of Notes 1 to 4, wherein:

[0201] After the working vehicle automatically travels based on the second reference line, when receiving an operation to correct the first reference line, only the first reference line is corrected.

[0202] Before the work vehicle automatically travels based on the second reference line, when an operation of correcting the first reference line is received, the first reference line and the second reference line are corrected.

[0203] <Note 6>

[0204] A method for generating a path according to any one of Notes 1 to 5, wherein:

[0205] The first reference line, the second reference line, and a corrected reference line obtained by correcting the second reference line are stored, and the target path is generated based on a reference line selected when the work vehicle starts automatic travel.

[0206] <Note 7>

[0207] A path generation method according to any one of Notes 1 to 6, wherein:

[0208] The above correction operation includes at least one of the following operations:

[0209] An operation of shifting a path corresponding to the second reference line while the work vehicle is automatically traveling based on the second reference line;

[0210] An operation of registering an end point while the working vehicle is automatically traveling based on the second reference line;

[0211] An operation of ending the automatic driving based on the second reference line; and

[0212] The operation of moving the working unit to the non-working position is performed while the working vehicle is automatically traveling based on the second reference line and a working unit provided on the working vehicle is operating.

[0213] [Note 2 of the invention]

[0214] The following is a supplementary note of the invention extracted from the above-mentioned Embodiment 2. In addition, each structure and each processing function described in the following supplementary note can be combined arbitrarily by selection and rejection.

[0215] <Note 1>

[0216] A path generation method is a path generation method for generating a target path for a working vehicle to automatically travel based on a baseline, wherein:

[0217] generating a plurality of reference lines at different orientations relative to one another; and

[0218] When a new baseline setting operation received after the plurality of baselines are generated satisfies a predetermined condition, at least one baseline to be corrected among the plurality of baselines is determined, and the determined baseline is corrected to a position corresponding to the setting operation.

[0219] <Note 2>

[0220] The path generation method according to Note 1, wherein:

[0221] The plurality of reference lines include: a first reference line, and a second reference line generated based on the first reference line.

[0222] When the angle formed by the second reference line and the new reference line is less than a predetermined angle, the second reference line is corrected to the position of the new reference line.

[0223] <Note 3>

[0224] According to the path generation method described in Note 2,

[0225] When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, the first reference line is corrected to the position of the new reference line.

[0226] <Note 4>

[0227] The path generation method according to Note 2 or 3, wherein:

[0228] When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, the new reference line is registered as a third reference line.

[0229] <Note 5>

[0230] A path generation method according to any one of Notes 2 to 4, wherein:

[0231] When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, an operation of selecting to correct the first reference line to the position of the new reference line or to register the new reference line as a third reference line is accepted.

[0232] <Note 6>

[0233] A path generation method according to any one of Notes 2 to 5, wherein:

[0234] When the angle formed by the second reference line and the new reference line is greater than the specified angle and the distance between the first reference line and the new reference line is less than the specified distance, the first reference line is corrected to the position of the new reference line.

[0235] When the angle formed by the second reference line and the new reference line is greater than the predetermined angle and the distance between the first reference line and the new reference line is greater than the predetermined distance, the new reference line is registered as the third reference line.

Claims

1. A path generation method is a path generation method for generating a target path for a work vehicle to automatically travel based on a reference line, characterized in that: implement: generating multiple reference lines with different orientations to each other; and When a new baseline setting operation received after the plurality of baselines are generated satisfies a predetermined condition, at least one baseline to be corrected among the plurality of baselines is determined, and the determined baseline is corrected to a position corresponding to the setting operation.

2. The path generation method according to claim 1, characterized in that: The plurality of reference lines include: a first reference line, and a second reference line generated based on the first reference line, When the angle formed by the second reference line and the new reference line is smaller than a predetermined angle, the second reference line is corrected to the position of the new reference line.

3. The path generation method according to claim 2, characterized in that: When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, the first reference line is corrected to the position of the new reference line.

4. The path generation method according to claim 2, characterized in that: When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, the new reference line is registered as a third reference line.

5. The path generation method according to claim 2, characterized in that: When the angle formed by the second reference line and the new reference line is equal to or larger than the predetermined angle, an operation of selecting to correct the first reference line to the position of the new reference line or to register the new reference line as a third reference line is accepted.

6. The path generation method according to claim 2, characterized in that: When the angle formed by the second reference line and the new reference line is greater than the specified angle and the distance between the first reference line and the new reference line is less than the specified distance, the first reference line is corrected to the position of the new reference line. When the angle formed by the second reference line and the new reference line is equal to or greater than the predetermined angle and the distance between the first reference line and the new reference line is equal to or greater than the predetermined distance, the new reference line is registered as a third reference line.

7. A path generation program for generating a target path for a work vehicle to automatically travel based on a reference line, characterized in that: Used to cause one or more processors to execute: generating a plurality of reference lines at different orientations relative to one another; and When a new baseline setting operation received after the plurality of baselines are generated satisfies a predetermined condition, at least one baseline to be corrected among the plurality of baselines is determined, and the determined baseline is corrected to a position corresponding to the setting operation.

8. A path generation system is a path generation system for generating a target path for a work vehicle to automatically travel based on a reference line, characterized in that: have: A generation processing unit generates a plurality of reference lines in different directions from each other; and The correction processing unit determines at least one baseline to be corrected among the plurality of baselines when a setting operation of a new baseline received after the plurality of baselines are generated satisfies a predetermined condition, and corrects the determined baseline to a position corresponding to the setting operation.

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