System

Abstract

Provided is a means for making a travel path for a work vehicle to perform work travel appropriate. A system for managing the travel of a work vehicle (1) is provided with: a work area acquisition unit for acquiring a work area (WA) for the work vehicle (1) to perform work travel; a reference position acquisition unit that acquires, as a reference position (RP), the position of the parked work vehicle (1); and a route setting unit that sets, within the work area (WA), a travel route (LI) for the work vehicle (1) to perform work travel. The route setting unit sets a start travel route (SR) passing through the reference position (RP) or a start travel route (SR) extending from the reference position (RP), and sets other travel routes (OR1, OR2) parallel to the start travel route (SR).

Description

Technical Field

[0001] The present invention relates to a system. Background Art

[0002] Patent Document 1 discloses an automatic driving system for a work vehicle. In this system, a driving path element group for dividing a work target area is set, and the driving path element group is sequentially selected to perform automatic driving of the work vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-038291 Summary of the invention

[0006] Problems that the invention will solve

[0007] In the system of Patent Document 1, a travel path element is set parallel to the side of the work target area from a position with a distance of half the working width of the harvester relative to the side. The travel path set in this way may not be the optimal path depending on the position of the crops in the field.

[0008] For example, when the intervals between the rows of crops in the field are large, there is a possibility that the intervals between the edge of the operation target area and the rows of crops will become larger. In this case, if the travel path is set at a position with a distance of half the working width of the harvester relative to the edge of the operation target area, and the harvester travels on the travel path, the end of the harvesting unit passes near the edge of the operation target area. As a result, an area where crops will not enter the harvesting unit (corresponding to the gap between the edge of the operation target area and the rows of crops) is generated. That is, the efficiency of the harvesting operation is reduced.

[0009] An object of the present invention is to provide means for making a travel path suitable for a work vehicle to travel for work.

[0010] Means for solving problems

[0011] As a means for solving the above-mentioned problems, the system of the present invention is a system for managing the travel of a work vehicle, characterized in that it comprises: a work area acquisition unit, which acquires the work area for the work vehicle to travel for work; a reference position acquisition unit, which acquires the position of the parked work vehicle as the reference position; and a path setting unit, which sets a travel path for the work vehicle to travel for work within the work area, the path setting unit sets a starting travel path passing through the reference position or an extension of the starting travel path passing through the reference position, and sets other travel paths parallel to the starting travel path.

[0012] According to the above-mentioned features, the position of the parked work vehicle is obtained as a reference position, and a starting travel path passing through the reference position (or a starting travel path whose extension line passes through the reference position) is set. That is, the parking position is reflected in the positions of the starting travel path and other travel paths. Therefore, as long as the parking position is appropriate, the set travel path becomes appropriate. For example, in a case where the row of crops is significantly away from the edge of the work object area, as long as the vehicle is parked in a manner that the position of the harvesting part and the row of crops is consistent, the starting travel path will be set in a manner that passes through the parking position. Therefore, when the harvester travels on the starting travel path, the crops enter the entire harvesting part, thereby improving the efficiency of the harvesting operation.

[0013] In the present invention, it is preferable that the reference position acquisition unit acquires the reference position after an operator manually drives and stops the work vehicle.

[0014] According to the above-mentioned features, since the position where the operator stops the vehicle becomes the reference position, the reference position is easy to become appropriate. For example, the operator manually drives the work vehicle and stops the vehicle so that the work device of the work vehicle is in an appropriate position. For example, the operator manually drives the work vehicle and stops the vehicle so that the harvesting unit is aligned with the row of crops in the field. As a result, the obtained reference position becomes appropriate, and the set travel path becomes appropriate.

[0015] In the present invention, it is preferable that the reference position acquisition unit acquires the reference position in response to receiving a human operation from an operator.

[0016] According to the above-mentioned features, since the parking position when receiving manual operation from the operator becomes the reference position, the reference position can easily become an appropriate position. For example, the operator can confirm that the working device of the working vehicle has reached an appropriate position and perform manual operation. For example, the operator can confirm that the harvesting part is consistent with the row of crops in the field and perform manual operation. As a result, the obtained reference position becomes appropriate, and the set travel path becomes appropriate.

[0017] In the present invention, it is preferred that: a furrow interval acquisition unit that acquires furrow intervals; and a route interval determination unit that determines the route interval of the travel route based on the furrow intervals, wherein the route setting unit sets the other travel route based on the route intervals.

[0018] According to the above-mentioned feature, the route interval is set based on the acquired furrow interval, and other travel routes are set based on the route interval. Therefore, the intervals of the other travel routes set are appropriate intervals based on the furrow intervals.

[0019] In the present invention, it is preferred that the path setting unit sets a temporary driving path for the work vehicle to perform working driving within the work area before obtaining the reference position, and after obtaining the reference position, the path setting unit performs correction of the temporary driving path so that it passes through the reference position, or corrects the temporary driving path so that its extension line passes through the reference position, and sets the corrected temporary driving path as the starting driving path.

[0020] According to the above-mentioned features, a temporary travel route is first set, and the temporary travel route is corrected and set as the start travel route. Therefore, the set start travel route is likely to be appropriate.

[0021] In the present invention, it is preferable that the route setting unit sets the start travel route and the other travel routes so as to extend along a boundary line of the work area.

[0022] According to the above-mentioned features, the start travel route and the other travel routes extend along the boundary line of the work area, so that the work inside the work area can be appropriately performed through the set travel routes.

[0023] In the present invention, it is preferred that the device comprises: a previous driving benchmark acquisition unit, which acquires the driving benchmark of a previous working vehicle that has performed working driving in the same field in the past, i.e., a previous driving benchmark; and a path orientation determination unit, which determines the path orientation based on the previous driving benchmark, and the path setting unit sets the starting driving path and the other driving paths in a manner extending along the path orientation.

[0024] When cultivating crops in a field, various operations are performed by multiple work vehicles. For example, ridge making and sowing are performed by a tractor, transplanting is performed by a rice transplanter, fertilization and pesticide spraying are performed by a management machine, etc. According to the above-mentioned characteristics, a previous driving reference of a previous work vehicle is obtained, a path orientation is determined based on the previous driving reference, and a starting driving path and other driving paths are set in a manner extending along the path orientation. Therefore, these driving paths are appropriate paths along the paths of the previous work vehicle's operation, such as rows of crops and ridges. That is, the set driving path becomes more appropriate.

[0025] In the present invention, it is preferable that a travel track acquisition unit is further provided to acquire a travel track of the work vehicle while the work vehicle is traveling on the outermost periphery of the field, and the work area acquisition unit generates the work area based on the travel track.

[0026] According to the above-mentioned features, the work area is calculated based on the travel trajectory during the outermost peripheral travel, and the start travel route and other travel routes are set in the work area. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a diagram showing a combine harvester.

[0028] Figure 2 This is a block diagram showing the configuration related to the control unit.

[0029] Figure 3 This is a diagram showing the outermost travel track, unused areas, and main travel directions.

[0030] Figure 4 This is a diagram showing the main driving directions, virtual straight lines, outer edge straight lines, and work areas.

[0031] Figure 5 A map showing the work area and travel route.

[0032] Figure 6 This is a diagram showing a portion of the travel trajectory of the outermost peripheral travel.

[0033] Figure 7 This is a graph showing the distribution of the frequency of travel in each direction.

[0034] Figure 8 This is a diagram showing a portion of the travel trajectory of the outermost peripheral travel.

[0035] Fig. 9 It is a diagram for explaining correction of the temporary travel route based on the acquired reference position.

[0036] Fig.10 It is a flow chart of the driving control process. DETAILED DESCRIPTION

[0037] Hereinafter, a driving management system A as an embodiment of the system of the present invention will be described based on the drawings. The present invention is not limited to the following embodiments, and various modifications are possible without departing from the gist of the invention.

[0038] [Overall structure of a combine harvester]

[0039] exist Figure 1 , a general type combine harvester 1 is shown as an example of a working vehicle. The combine harvester 1 includes a harvesting unit H, a crawler-type travel device 11, a driving unit 12, a threshing device 13, a grain tank 14, a conveying unit 16, a grain discharge device 18, and a satellite positioning module 80.

[0040] The forward direction of the combine harvester 1 is defined as "front", and the backward direction is defined as "rear". The right side of the combine harvester 1 when facing the forward direction is defined as "right", and the left side is defined as "left". In the drawings, "front" is indicated by arrow F, "rear" is indicated by arrow B, "up" is indicated by arrow U, and "down" is indicated by arrow D.

[0041] The travel device 11 is provided at the lower part of the combine harvester 1. The travel device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. And the combine harvester 1 can travel by the travel device 11.

[0042] In addition, the driving unit 12, the threshing device 13, and the grain tank 14 are arranged above the travel device 11. The driving unit 12 is provided with a driver's seat 12a for the operator to sit on. The driving unit 12 is provided with an operating tool OT ( Figure 2 ) of multiple operating levers and operating switches.

[0043] The grain discharge device 18 is provided on the upper side of the grain tank 14. Moreover, the satellite positioning module 80 is attached to the upper surface of the driving part 12.

[0044] The harvester H is provided at the front of the combine harvester 1. The conveyor 16 is provided at the rear of the harvester H. The harvester H includes left and right crop dividers 10, a cutter 15, and a reel 17. The left and right crop dividers 10 are provided at the left and right ends of the front end of the harvester H.

[0045] The cutter 15 cuts the standing grain stalks. The reel 17 pulls the standing grain stalks while rotating around a reel shaft 17 b extending in the left-right direction of the machine body. The cut grain stalks cut by the cutter 15 are sent to the conveyor 16.

[0046] With this configuration, the harvester H harvests the grains in the field. Furthermore, the combine harvester 1 can perform a harvesting trip in which the combine harvester 1 travels with the travel device 11 while harvesting standing grain stalks in the field with the cutter 15. The harvesting trip is a specific example of the "operation trip" of the present invention. There are cases where the harvesting trip is described as "operation trip".

[0047] The harvested grain stems harvested by the harvesting section H are conveyed to the rear of the machine body by the conveying section 16. Thus, the harvested grain stems are conveyed to the threshing device 13.

[0048] The harvested grain stems are threshed in the threshing device 13. The grains obtained by the threshing are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharge device 18 as needed.

[0049] In addition, if Figure 1As shown in FIG. 1 , a terminal device 4 is disposed in the driving unit 12. The terminal device 4 includes a touch panel display device as an operation tool OT ( Figure 2 ) functions. In the present embodiment, the terminal device 4 is fixed to the driving unit 12. In addition, the terminal device 4 may be configured to be attachable and detachable relative to the driving unit 12, or may be located outside the combine harvester 1.

[0050] 〔Driving Management System〕

[0051] The combined harvester 1 is driven by Figure 2 The driving management system A shown in FIG.

[0052] The control unit 40 includes a memory (HDD, non-volatile RAM, etc., not shown in the figure) for storing programs corresponding to the functional modules described later, and a CPU (not shown in the figure) for executing the programs. The programs are executed by the CPU to realize the functions of each functional unit. That is, the control unit 40 includes a non-transitory recording medium that stores the programs.

[0053] The control unit 40 may be constituted by one or more ECUs mounted on the combine harvester 1. A part or all of the control unit 40 may be provided in the terminal device 4, or may be provided in a computer, a server, or the like outside the combine harvester 1.

[0054] The control unit 40 includes, as functional modules, a travel track acquisition unit 41, an unworked area calculation unit 42, a straight line calculation unit 43, a work area acquisition unit 44, a path setting unit 45, a furrow interval acquisition unit 46, a path interval determination unit 47, a previous travel reference acquisition unit 48, a path orientation determination unit 49, a reference position acquisition unit 50, and a travel control unit 58. The functions and operations of these functional modules will be described later.

[0055] Furthermore, the control unit 40 includes a storage device 59 that stores data necessary for the operation of each functional block, data generated by the operation of each functional block, and the like.

[0056] The satellite positioning module 80 receives the data from the artificial satellite GS ( Figure 1 ) receives a GNSS (Global Navigation Satellite System) signal, and generates positioning data indicating the vehicle position of the combine harvester 1 based on the received signal. As the GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

[0057] [Harvesting operations performed by the driving management system]

[0058] In this embodiment, the harvesting operation in a field FI where crops are planted is controlled by the driving management system A. Figure 3 -5 while explaining the harvesting operation.

[0059] In this embodiment, an example in which the outer shape of the field FI is a rectangle is described. In the example in the figure, the long side of the field FI is parallel to the east-west direction, and the short side of the field FI is in the north-south direction. In the attached figure, the directions of east, west, south, and north are represented by the abbreviations "E", "W", "S", and "N". In the following description, the direction is sometimes represented by an angle with 0° to the north and 90° to the east.

[0060] 〔Outermost Peripheral Driving〕

[0061] First, if Figure 3 As shown, the combine harvester 1 travels on the outermost periphery of the field FI while harvesting crops. This travel is referred to as "outermost periphery travel."

[0062] In the example shown in the figure, the combine harvester 1 starts from the northeast corner of the field FI and moves straight west along the boundary of the field FI. When the combine harvester 1 reaches the west end of the field FI, it performs corner harvesting at the northwest corner. In corner harvesting, it repeats backing up, turning slightly left, and moving forward, and changes direction to the south while harvesting crops.

[0063] Next, a straight line is run to the south along the boundary of the field FI. Thereafter, corner harvesting at the southwest corner, a straight line is run to the east, corner harvesting at the southeast corner, a straight line is run to the north, and corner harvesting at the northeast corner is performed.

[0064] The outermost peripheral driving can also be performed entirely by human operation. The driving based on human operation is the driving of the combine harvester 1 according to the human operation (manipulation) from the operator. The human operation from the operator can be an operation performed when the operator is riding on the driving unit 12, or it can be a remote operation from an operator outside the combine harvester 1.

[0065] Part or all of the outermost peripheral driving may also be driving not based on human operation. Driving not based on human operation refers to, for example, automatic driving, automatic steering driving, etc. Automatic driving is driving that automatically controls speed (including forward, reverse and stop control) and steering control. Automatic driving may be automatic driving along a set driving path, or automatic driving based on the results of a sensor scanning the surrounding environment. Automatic steering driving refers to driving along a driving reference (direction, path, etc.) accompanied by automatic steering.

[0066] 〔Calculation of working area〕

[0067] The calculation of the working area WA is performed based on the travel track TR of the combine harvester 1 during the outermost peripheral travel. The calculation of the working area WA is preferably performed after the outermost peripheral travel is completed. The specific procedure of calculating the working area WA is described below.

[0068] [Obtaining driving trajectory]

[0069] The travel track acquisition unit 41 acquires the travel track TR of the combine harvester 1 while the combine harvester 1 is traveling on the outermost periphery of the field FI.

[0070] Specifically, the travel track acquisition unit 41 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The travel track acquisition unit 41 acquires a set of data indicating the position coordinates of the combine harvester 1 during the outermost travel as travel track data TD indicating the travel track TR, and stores it in the storage device 59.

[0071] Specifically, the driving trajectory acquisition unit 41 calculates the geographical location of a predetermined point in the combine harvester 1 as the "position coordinates of the combine harvester 1" based on the positioning data output by the satellite positioning module 80. The "predetermined point" in this embodiment is the central point of the harvesting section H (hereinafter referred to as the "central reference point"). That is, the driving trajectory TR is the movement trajectory of the "predetermined point" and is the movement trajectory of the central reference point.

[0072] The "predetermined point" that serves as the basis for the "position coordinates of the combine harvester 1" may be a point that is the center of the left-right direction and the center of the front-rear direction relative to the left and right tracks of the traveling device 11, or may be a point in the center of the satellite positioning module 80, or may be a point in the center of the right or left crop divider 10.

[0073] The travel track TR is a conceptual diagram showing the distance traveled by the combine harvester 1. The travel track data TD is data stored in the storage device 59. Figure 3 In the figure, the driving trajectory TR and the driving trajectory data TD are represented by the same solid line. In this way, objects and concepts in the real space and virtual data are sometimes represented by the same graph in the attached figure. In addition, the description of the intention of the functional module to process objects and concepts (driving trajectory TR, etc.) in the real space sometimes means that the functional module processes the corresponding data.

[0074] 〔Calculation of unoperated areas〕

[0075] The unworked area calculation unit 42 calculates unworked area data UD corresponding to the unworked area UA based on the travel trajectory TR.

[0076] In the field FI, the area where the combine harvester 1 has not traveled is an area where crops have not been harvested, and is an unworked area UA. The unworked area calculation unit 42 calculates the area where the combine harvester 1 has not traveled to harvest crops based on the travel trajectory TR, and stores data representing the area as unworked area data UD in the storage device 59. In other words, the unworked area data UD is an unworked area map representing the unworked area UA.

[0077] Specifically, the unworked area calculation unit 42 calculates the movement trajectory of the inner crop divider 10 of the left and right crop dividers 10 based on the travel trajectory TR. The unworked area calculation unit 42 regards the inner area of ​​the calculated movement trajectory as the unworked area UA, calculates the unworked area data UD representing the area, and stores it in the storage device 59.

[0078] In addition, the unworked area calculation unit 42 determines whether the outermost peripheral driving is turning right or turning left based on the driving trajectory data TD. In the case of turning right, the unworked area data UD is calculated based on the moving trajectory of the right crop divider 10. In the case of turning left, the unworked area data UD is calculated based on the moving trajectory of the left crop divider 10. In addition, the moving trajectory of the crop divider 10 can be calculated based on the driving trajectory TR based on the positional relationship between the satellite positioning module 80 and the crop divider 10.

[0079] 〔Calculation of the outer edge straight line〕

[0080] The straight line calculation unit 43 calculates three or more outer edge straight lines OL that are circumscribed to the unworked area UA in the field FI and extend along the main travel direction MB during the outermost travel, based on the travel trajectory TR.

[0081] The main travel direction MB is a direction with a high travel frequency among the travel directions of the combine harvester 1 during the outermost travel period. Figure 3 As shown, the combine harvester 1 travels in various directions during the outermost peripheral travel. In particular, the direction is changed many times in the corner area of ​​the field FI, so the travel direction changes in various ways. However, if the outermost peripheral travel as a whole is considered, the travel frequency to the west, south, east and north is high. "High travel frequency" means that the travel distance and travel time are large. In the example shown in the figure, the main travel directions MB are west, south, east and north. In other words, the main travel directions MB are 270°, 180°, 90°, and 0°.

[0082] The straight line calculation unit 43 determines three or more main driving directions MB based on the driving trajectory data TD, generates direction data MD indicating the main driving directions MB, and stores the direction data MD in the storage device 59. The main driving directions MB based on the driving trajectory TR can be determined by various methods such as driving time and driving distance. The specific method of determining the main driving directions MB by the straight line calculation unit 43 will be described later.

[0083] The straight line calculation unit 43 calculates the outer edge straight line OL specifically as follows.

[0084] The straight line calculation unit 43 virtually arranges the virtual straight line IL extending along the main travel direction MB outside the unworked area UA. In other words, in the virtual space, the virtual straight line IL is arranged at a position (e.g., infinitely far) sufficiently away from the unworked area UA indicated by the unworked area data UD. Furthermore, the straight line calculation unit 43 generates virtual straight line data ID representing the virtual straight line IL and stores it in the storage device 59. Figure 4 In the example of , four virtual straight lines IL are arranged to be orthogonal to each other outside the unworked area UA.

[0085] The straight line calculation unit 43 moves the virtual straight line IL in parallel in a manner close to the unworked area UA, and calculates the virtual straight line IL in contact with the unworked area UA as the outer edge straight line OL. Specifically, the straight line calculation unit 43 moves the virtual straight line IL in parallel by only a small distance, and determines whether there is an intersection with the unworked area UA. If there is no intersection, the straight line calculation unit 43 repeats the parallel movement and the determination of the intersection. If there is an intersection, the virtual straight line IL at that position is determined as the outer edge straight line OL, and the straight line data OD representing the outer edge straight line OL is generated and stored in the storage device 59. Figure 4 In the example, four orthogonal outer edge straight lines OL are calculated.

[0086] 〔Calculation of working area〕

[0087] The work area acquisition unit 44 calculates the area surrounded by the outer edge straight line OL as the work area WA for the combine harvester 1. Specifically, the work area acquisition unit 44 determines the polygonal area surrounded by the outer edge straight line OL as the work area WA, and stores the work area data WD indicating the work area WA in the storage device 59. In other words, the work area data WD is a work area map indicating the work area WA.

[0088] exist Figure 4 In the example of , a rectangular work area WA surrounded by four orthogonal outer edge straight lines OL is calculated. The unworked area UA is located inside the work area WA. In other words, the work area WA includes the unworked area UA.

[0089] As described above, the work area acquisition unit 44 generates the work area WA based on the travel trajectory TR.

[0090] [Method for determining the main driving direction]

[0091] In the present embodiment, the main travel direction MB is determined based on the frequency of travel in each direction during the outermost peripheral travel. That is, the straight line calculation unit 43 calculates the travel frequency of each direction in the travel trajectory TR and determines three or more main travel directions MB based on the calculated frequencies.

[0092] The following is based on Figure 6 , Figure 7 Describe in detail. Figure 6 2 shows a part of the travel track TR of the combine harvester 1 during outermost travel, which is acquired by the travel track acquisition unit 41. Points P1 to P7 shown in the figure are points corresponding to the position coordinates acquired when the combine harvester 1 is traveling westward.

[0093] The travel from point P1 to point P7 is generally westward. However, the travel direction of the combine harvester 1 may slightly change due to the unevenness and inclination of the field. According to the method described below, it is possible to digitize the travel direction in the travel trajectory TR, calculate the travel frequency of each direction, and determine the main travel direction MB.

[0094] The travel from point P1 to point P7 is divided into six shorter travels, namely travel T1 to travel T6. The direction of travel T1 can be calculated based on the position coordinates of point 1 and point 2. In the example shown in the figure, the direction of travel T1 is 270°.

[0095] Similarly, the directions of travel T2 to travel T6 can be calculated. In the example shown in the figure, the direction of travel T2 is 270°. The direction of travel T3 is 272°. The direction of travel T4 is 268°. The direction of travel T5 is 272°. The direction of travel T6 is 268°.

[0096] The entire travel track TR is divided into shorter runs, and the direction of each run is calculated. The position coordinates of the combine harvester 1 obtained during the outermost periphery run are as many as several thousand. Therefore, the travel track TR can be divided into several thousand runs, and the direction of the several thousand runs can be obtained.

[0097] The degree distribution of the obtained driving directions can be calculated. For example, the full range (0° to 360°) is divided into 1° units, and the number of driving directions belonging to the divided area (degrees) is counted for each divided direction. In addition, the width of the partition is arbitrary, and can be less than 1°, or 2°, 5°, etc.

[0098] exist Figure 7An example of a graph showing degree distribution is shown in FIG. Figure 2 The driving trajectory TR shown is depicted accordingly.

[0099] In this graph, frequency peaks occur at 0° (north), 90° (east), 180° (south), and 270° (west). This corresponds to Figure 2 The field FI is rectangular, and the four sides extend in the east-west direction and the north-south direction. In the outermost peripheral driving, the driving distance along each side of the field FI is long. In other words, the driving along each side of the field FI is long. Therefore, the frequency of driving along the direction of each side becomes high.

[0100] In addition, the heights of the peaks at 0° and 180° are approximately half of the heights of the peaks at 90° and 270°. Figure 2 The length of the short side (east side and west side) of the field FI is about half of the length of the long side (north side and south side). The distance and time of driving along each side become longer according to the length of each side.

[0101] Therefore, in the distribution of the travel frequency of each direction, the direction with a higher frequency is the main movement direction in the travel trajectory TR, and is likely to be a direction corresponding to the general shape of the field FI. The direction with a lower frequency is a non-main movement direction in the travel trajectory TR, and is likely not to be a direction corresponding to the general shape of the field FI. The direction with a lower frequency corresponds to the travel direction in the corner harvesting at the corner of the field FI, for example.

[0102] In this embodiment, the straight line calculation unit 43 calculates the frequency of travel in each direction in the travel trajectory TR, and determines three or more main travel directions MB based on the calculated frequencies. For example, the straight line calculation unit 43 determines the direction corresponding to the vertex of the peak value of the frequency distribution as the main travel direction MB. For example, the straight line calculation unit 43 determines the direction corresponding to the central value of the peak value of the frequency distribution as the main travel direction MB.

[0103] in the case of Figure 7 If the degree distribution is shown, the straight line calculation unit 43 determines four directions of 0° (north), 90° (east), 180° (south), and 270° (west) as the main driving directions MB.

[0104] The straight line calculation unit 43 is preferably configured to determine the main travel direction MB in such a manner that one main travel direction MB corresponds to one peak in the distribution of the frequency of travel in each direction in the calculated travel trajectory TR. Figure 6As shown in FIG. 1 , the direction of travel changes slightly. Therefore, in the distribution of the frequency of travel in each direction, the width of the peak becomes wider to a certain extent. If a plurality of main travel directions MB are determined based on one peak, there is a possibility that the amount of calculation when calculating the virtual straight line IL, the outer edge straight line OL, and the working area WA will become excessively large. That is, if the straight line calculation unit 43 is configured as described above, the amount of calculation in the control unit 40 can be reduced, which is more preferable.

[0105] In addition, when the field FI is a triangle, three peaks corresponding to the three sides appear in the distribution of the travel frequency in each direction. When the field FI is a polygon, the same number of peaks as the number of sides of the field FI appear in the distribution of the travel frequency in each direction.

[0106] The straight line calculation unit 43 is preferably configured to determine the main driving direction MB in such a manner that the angle between the determined main driving directions MB is larger than a predetermined threshold value. In this case, the angle between the calculated plurality of outer edge straight lines OL is larger than the predetermined threshold value, so that the work area WA has a simple shape. Therefore, the amount of calculation in the control unit 40 can be reduced, which is more preferred. The predetermined angle is, for example, 15°.

[0107] 〔Automatic driving of a combine harvester〕

[0108] The combine harvester 1 automatically travels in the work area WA using the generated work area data WD.

[0109] Specifically, the path setting unit 45 sets a plurality of travel paths LI for the combine harvester 1 to cut and travel within the working area WA. Specifically, the path setting unit 45 sets a plurality of travel paths LI in a manner that covers the entire working area WA, generates travel path data LD representing the travel paths LI, and stores the travel path data LD in the storage device 59.

[0110] exist Figure 5 In the example of , the driving path LI is a plurality of grid-like straight lines extending in the east-west direction and the north-south direction. The driving path LI may be a plurality of parallel lines parallel to each other. The driving path LI may also be a curve.

[0111] The travel control unit 58 causes the combine harvester 1 to travel for harvesting along the set travel route LI. Specifically, the travel control unit 58 controls the travel of the combine harvester 1 by controlling the travel device 11.

[0112] The travel control unit 58 selects a next travel route LI from the plurality of travel routes LI, and controls the travel device 11 based on the positioning data outputted from the satellite positioning module 80 so that the combine harvester 1 travels along the selected travel route LI.

[0113] The selection of the next travel path LI is performed according to a preset rule. For example, the travel control unit 58 controls the travel device 11 according to the rule of vortex travel so that the combine harvester 1 travels in a vortex shape. For example, the travel control unit 58 controls the travel device 11 according to the rule of U-turn travel so that the combine harvester 1 travels back and forth inside the work area WA while connecting the parallel travel paths LI through a U-turn.

[0114] The travel rule may be switched during the work in the work area WA. For example, the travel control unit 58 may first make the combine harvester 1 harvest according to the swirl travel rule, and then make the combine harvester 1 harvest according to the U-turn travel rule.

[0115] [Details of driving route settings]

[0116] One side reference Fig. 9 , while explaining in detail the setting of the driving path LI inside the working area WA. Once the working area WA is calculated, a temporary driving path is generated inside the working area WA. The temporary driving paths extend along a predetermined path direction and are arranged at predetermined path intervals. In the example shown in the figure, three temporary driving paths RI1, RI2, and RI3 are generated and extend along the boundary line of the working area WA. The interval between the temporary driving path RI1 located in the east and the eastern outer edge of the working area WA is half of the path interval.

[0117] Before the automatic driving starts, the operator stops the combine harvester 1 with the harvesting unit H positioned to properly harvest the crops C on the furrow R. The combine harvester 1 may be parked when it enters the working area WA (when harvesting the crops C is started) as shown in the example in the figure, or it may be parked outside the working area WA.

[0118] When the operator operates the operating tool OT, the vehicle position of the combine harvester 1 calculated based on the positioning data output from the satellite positioning module 80 is acquired as the reference position RP. That is, the reference position RP is the position of the central reference point of the parked combine harvester 1.

[0119] The temporary driving route is corrected to pass through the reference position RP, and the corrected temporary driving route is set as the starting driving route. In the example shown in the figure, the temporary driving route RI1 moves parallel to the west in a manner passing through the reference position RP, and is set as the starting driving route SR. The moving distance of the temporary driving route RI1 is equal to the distance between the reference position RP and the temporary driving route RI1. The moving direction of the temporary driving route RI1 is a direction orthogonal to the temporary driving route RI1.

[0120] The temporary driving route RI2 moves in parallel to the west by the same distance as the temporary driving route RI1 and is set as another driving route OR1. The temporary driving route RI3 moves in parallel to the west by the same distance as the temporary driving route RI1 and is set as another driving route OR2.

[0121] The set start travel route SR and other travel routes OR1 and OR2 are subsequently handled as the travel route LI. Then, the travel control unit 58 causes the combine harvester 1 to perform harvesting travel along the travel route LI.

[0122] The above-described method for setting the driving path LI based on the reference position RP can be appropriately applied to a method of setting the driving path LI as a plurality of parallel lines parallel to each other. The driving management system A of this method can be appropriately applied to a vehicle having a ridge R formed and crops C planted on the ridge R. Fig. 9 However, the above-mentioned setting method can also be applied to a method of setting the travel path LI as a grid of straight lines.

[0123] exist Fig. 9 In the example of , the starting travel path SR is set to pass through the reference position RP and extend to the end (southern end) of the work area WA. The starting travel path SR may also be set to extend from the reference position RP as a starting point. The reference position RP may also be located outside the work area WA. In this case, the starting travel path SR may be set in such a way that an extension line of the starting travel path SR passes through the reference position RP. In addition, the starting travel path SR may be set in such a way that the starting travel path SR extends to the outside of the work area WA and passes through the reference position RP.

[0124] The path interval for generating the temporary driving path can be determined in various ways. The path interval can also be determined based on the specifications of the combine harvester 1 (the harvesting width of the harvesting section H, etc.). The path interval can also be determined based on the interval of the crops C. The path interval can also be determined based on the interval of the furrows R. The information for determining these path intervals (specifications of the combine harvester 1, the interval of the crops C, the interval of the furrows R) can be obtained by input from the operator via the operating device OT, or by downloading from an agricultural management system, etc.

[0125] The path orientation for generating the temporary driving path can be determined in various ways. The path orientation can also be determined as an orientation parallel to the boundary line of the working area WA. The path orientation can also be determined based on the driving reference of the previous working vehicle that has performed working driving in the same field in the past, that is, the previous driving reference. The acquisition of the previous driving reference can be performed by input from the operator through the operating device OT, or by downloading from the agricultural management system, etc.

[0126] Next, the operation of the control unit 40 related to the setting of the above-mentioned driving route LI will be described.

[0127] The path setting unit 45 sets a starting travel path SR passing through the reference position RP or a starting travel path SR whose extension line passes through the reference position RP, and sets other travel paths OR1 and OR2 parallel to the starting travel path SR. Before acquiring the reference position RP, the path setting unit 45 sets a temporary travel path RI1 for the combine harvester 1 to work and travel inside the work area WA. After acquiring the reference position RP, the path setting unit 45 corrects the temporary travel path RI1 so that it passes through the reference position RP or corrects the temporary travel path RI1 so that its extension line passes through the reference position RP, and sets the corrected temporary travel path RI1 as the starting travel path SR.

[0128] The route setting unit 45 may set the start travel route SR and the other travel routes OR1 and OR2 so as to extend along the boundary line of the work area WA.

[0129] The route setting unit 45 may set the start travel route SR and the other travel routes OR1 and OR2 so as to extend along a route direction determined based on a previous travel reference (described later).

[0130] The route setting unit 45 may set the other travel routes OR1 and OR2 based on the route interval determined by the route interval determination unit 47. Specifically, the route setting unit 45 sets the other travel route OR1 so that the interval with the start travel route SR becomes the determined route interval. The route setting unit 45 sets the other travel route OR2 so that the interval with the other travel route OR1 becomes the determined route interval.

[0131] The furrow spacing acquisition unit 46 acquires the furrow spacing. For example, the furrow spacing acquisition unit 46 acquires the furrow spacing of the field FI where the work is being performed based on the input from the operator via the operating tool OT. The furrow spacing acquisition unit 46 may also acquire the furrow spacing of the field FI from an internal database or an external agricultural management system.

[0132] The path interval determination unit 47 determines the path interval of the travel path based on the furrow interval obtained by the furrow interval acquisition unit 46. For example, the path interval determination unit 47 determines the path interval so as to be an integer multiple of the furrow interval. For example, the path interval determination unit 47 calculates the number of furrows that can be harvested at one time based on the harvesting width of the harvesting unit H and the furrow interval, and determines the value obtained by multiplying the number by the furrow interval as the path interval.

[0133] The previous driving reference acquisition unit 48 acquires the previous driving reference, which is the driving reference of the previous working vehicle that has performed working driving in the same field FI in the past. The previous working vehicle is, for example, a tractor, a rice transplanter, a field management machine, etc. The previous driving reference is information for determining the direction of the path, such as the azimuth angle and the position coordinates of two points. For example, the previous driving reference acquisition unit 48 acquires the previous driving reference from an internal database or an external agricultural management system. For example, the previous driving reference acquisition unit 48 acquires the previous driving reference based on the input from the operator via the operating tool OT.

[0134] The route direction determination unit 49 determines the route direction based on the previous travel reference obtained by the previous travel reference acquisition unit 48. The route direction is, for example, an azimuth angle, a vector on a map, etc. The determined route direction is used by the route setting unit 45 to set the travel route (temporary travel route, start travel route, other travel routes).

[0135] The reference position acquisition unit 50 acquires the position of the parked combine harvester 1 as a reference position RP. The acquired reference position RP is used for the path setting unit 45 to set the starting travel path. The reference position acquisition unit 50 preferably acquires the reference position RP after the operator manually drives the combine harvester 1 and stops it. For example, the reference position acquisition unit 50 may also be configured to determine whether the operator manually drives the combine harvester 1 and stops it. The determination can be achieved by monitoring the input of the operating tool OT and the travel state of the combine harvester 1. Preferably, the reference position acquisition unit 50 acquires the reference position RP based on the fact that a manual operation is accepted from the operator.

[0136] The reference position acquisition unit 50 may be configured to acquire the reference position RP when the combine harvester 1 stops near the work area WA. The reference position acquisition unit 50 may be configured to acquire the reference position RP when the combine harvester 1 stops near the boundary line of the work area WA. The reference position acquisition unit 50 may be configured to acquire the reference position RP when the combine harvester 1 enters the inside of the work area WA and stops.

[0137] [Driving control process]

[0138] The control unit 40 of the driving management system A is configured in accordance with Fig.10 The travel control flow shown controls the travel of the combine harvester 1. This travel control flow starts before the outermost peripheral travel starts.

[0139] First, the driving track acquisition unit 41 acquires the driving track TR of the combine harvester 1 during the outermost peripheral driving of the field FI (step S101). The driving track TR may be acquired in real time during the execution of the outermost peripheral driving, intermittently at a certain time interval, or after the outermost peripheral driving is completed.

[0140] After step S101 is completed, the unworked area calculation unit 42 calculates unworked area data UD corresponding to the unworked area UA based on the travel trajectory TR (step S102 ).

[0141] After step S102 is completed, the straight line calculation unit 43 calculates the frequency of travel in each direction in the travel trajectory TR (step S103 ).

[0142] After step S103 is completed, the straight line calculation unit 43 specifies three or more main traveling directions MB based on the frequencies calculated in step S102 (step S104 ).

[0143] Step S102 (calculation of the unoperated area) may be performed simultaneously with step S103 (calculation of the frequency) and step S104 (identification of the main driving direction MB), or may be performed after step S103 and step S104.

[0144] After step S104 is completed, the straight line calculation unit 43 calculates the outer edge straight line OL (step S105 ).

[0145] After step S105 is completed, the work area acquisition unit 44 calculates the work area WA (step S106 ).

[0146] The furrow interval acquisition unit 46 acquires the furrow interval (step S107 ).

[0147] After step S107 is completed, the route interval determination unit 47 determines the route interval based on the acquired furrow interval (step S108 ).

[0148] Step S106 and step S107 may be performed at any timing as long as they are performed before setting the temporary travel route (step S111 ).

[0149] The previous travel reference acquisition unit 48 acquires the previous travel reference (step S109 ).

[0150] After step S109 is completed, the route direction determination unit 49 determines the route direction based on the acquired previous travel reference (step S110 ).

[0151] Step S109 and step S110 may be performed at any timing as long as they are performed before setting the temporary travel route (step S111 ).

[0152] The route setting unit 45 sets a temporary travel route (step S111 ).

[0153] The reference position acquisition unit 50 waits until the combine harvester 1 stops (step S112: No).

[0154] When the combine harvester 1 stops (step S112: Yes), the reference position acquisition unit 50 waits until the operating tool OT receives a human operation instructing reference position acquisition from the operator (step S113: No).

[0155] When the operating tool OT receives a manual operation instructing acquisition of the reference position from the operator (step S113: Yes), the reference position acquisition unit 50 acquires the current position of the combine harvester 1 as the reference position RP (step S114).

[0156] After step S114 is completed, the route setting unit 45 corrects the temporary travel route set in step S111 (step S115 ).

[0157] After step S115 is completed, the route setting unit 45 sets the temporary travel route corrected in step S111 as the start travel route and other travel routes (step S116 ).

[0158] After step S116 is completed, the travel control unit 58 causes the combine harvester 1 to perform harvesting travel along the start travel route set in step S116 and other travel routes (step S108).

[0159] After the cutting travel in the net work area WA is completed, the travel control flow ends.

[0160] [Other implementation methods]

[0161] The present invention is not limited to the configurations exemplified in the above-mentioned embodiments. Other representative embodiments of the present invention are exemplified below.

[0162] (1) In the above-mentioned embodiment, the reference position acquisition unit 50 acquires the reference position RP in response to the fact that the operator receives a manual operation. The reference position RP may be acquired independently of the manual operation by the operator. For example, the reference position acquisition unit 50 may be configured to acquire the reference position RP in response to the fact that the combine harvester 1 stops for a predetermined time (e.g., 5 seconds).

[0163] (2) In the above-mentioned embodiment, the furrow spacing acquisition unit 46 acquires the furrow spacing of the field FI. The path spacing determination unit 47 determines the path spacing based on the acquired furrow spacing. The path spacing may be determined not based on the furrow spacing. For example, the path spacing may be determined based on the harvesting width of the harvesting unit H. That is, the control unit 40 may not include the furrow spacing acquisition unit 46 and the path spacing determination unit 47. In this case, in the driving control process ( Fig.10 ) Step S107 and Step S108 are omitted.

[0164] (3) The route setting unit 45 may also be configured to switch whether to correct the temporary driving route based on a manual operation by an operator. When the temporary driving route is not corrected, the route setting unit 45 sets the temporary driving route as the driving route. Alternatively, the route setting unit 45 does not set the temporary driving route but sets the driving route.

[0165] (4) The driving control unit 58 may also be configured to selectively execute, based on manual operation from an operator, one of (a) automatic driving using the corrected temporary driving path (i.e., the starting driving path and other driving paths) as the driving path, and (b) automatic driving using the temporary driving path before correction as the driving path.

[0166] (5) In the above-mentioned embodiment, the route setting unit 45 sets a temporary driving route. The setting of the temporary driving route may also be omitted. That is, the route setting unit 45 may also be configured to set the starting driving route and other driving routes based on the reference position RP instead of generating a temporary driving route. In this case, in the driving control process ( Fig.10 ) in which step S111 is omitted.

[0167] (6) In the above-mentioned embodiment, the route setting unit 45 performs (a) setting of a temporary travel route (or a starting travel route, a travel route) based on a route orientation determined based on the acquired previous travel reference. The route setting unit 45 may also be configured to perform (b) setting of a temporary travel route (or a starting travel route, a travel route) based on a route orientation along a boundary line of the work area WA. In this case, in the travel control process ( Fig.10 ) Step S109 is omitted. In addition, the path setting unit 45 may be configured to selectively execute one of the above-mentioned (a) and (b) based on a manual operation by an operator.

[0168] (7) In the above-described embodiment, the work area acquisition unit 44 calculates the work area WA. The work area acquisition unit 44 may be configured to acquire the work area WA (work area data WD) from an internal database or an external agricultural management system.

[0169] (8) Acceptance of human operation by the operating tool OT is not limited to physical operation by hand. The operating tool OT may be configured to accept human operation from an operator through voice recognition.

[0170] (9) “Outermost perimeter travel” does not necessarily mean travel that strictly describes the outer end of the field. For example, if there is a concave portion at the outer end of the field or if the outer end of the field is curved, straight-line travel that ignores these conditions may also be included in the concept of outermost perimeter travel. In other words, when the outermost perimeter travel ends, an unworked area may remain outside the travel trajectory TR.

[0171] (10) The processes such as acquisition of the driving trajectory TR, calculation of the unworked area data UD, determination of the main driving direction MB, and calculation of the outer edge straight line OL may be performed based on the driving trajectory in the circular driving (circular driving on the outer periphery of the field) after the second turn. That is, the driving trajectory acquisition unit 41 may be configured to acquire the driving trajectory of the combine harvester 1 in the circular driving on the outer periphery of the field FI. The straight line calculation unit 43 may be configured to calculate three or more outer edge straight lines OL that are circumscribed to the unworked area UA in the field FI and extend along the main driving direction MB in the circular driving based on the driving trajectory.

[0172] The present invention can be used for the management of the travel of working vehicles. The working vehicles can be not only ordinary combine harvesters, but also semi-feeding combine harvesters, various harvesters (corn harvesters, potato harvesters, carrot harvesters, etc.), rice transplanters, field management machines, construction work machines, etc.

[0173] Description of Reference Numerals

[0174] 1: Combine harvester (working vehicle)

[0175] 41: Driving track acquisition unit

[0176] 44: Operation Area Acquisition Department

[0177] 45: Path setting unit

[0178] 46: Furrow spacing acquisition unit

[0179] 47: Path interval determination unit

[0180] 48: Previous driving reference acquisition unit

[0181] 49: Path direction determination unit

[0182] 50: Reference position acquisition unit

[0183] FI: Field

[0184] LI: Driving path

[0185] OR1: Other driving paths

[0186] OR2: Other driving routes

[0187] R: furrow

[0188] RI1: Temporary driving route

[0189] RI2: Temporary driving route

[0190] RI3: Temporary driving route

[0191] RP: Reference position

[0192] SR: Start driving route

[0193] TR: Driving track

[0194] WA: Working Area

Claims

1. A system for managing the travel of a work vehicle, characterized in that: have: a work area acquisition unit that acquires a work area for the work vehicle to travel for work; a reference position acquisition unit that acquires a position of the parked work vehicle as a reference position; as well as a path setting unit for setting a travel path for the work vehicle to travel for work within the work area, The route setting unit sets a start travel route that passes through the reference position or a start travel route whose extension passes through the reference position, and sets another travel route that is parallel to the start travel route.

2. The system according to claim 1, characterized in that The reference position acquisition unit acquires the reference position after an operator manually drives and stops the work vehicle.

3. The system according to claim 1, characterized in that The reference position acquisition unit acquires the reference position in response to receiving a human operation from an operator.

4. The system according to claim 1, characterized in that have: a furrow spacing acquisition unit that acquires the furrow spacing; and a route interval determination unit that determines the route interval of the travel route based on the ridge-furrow interval, The route setting unit sets the other travel route based on the route interval.

5. The system according to claim 1, characterized in that The path setting unit sets a temporary travel path for the work vehicle to travel for work within the work area before acquiring the reference position. After acquiring the reference position, the route setting unit corrects the temporary travel route so as to pass through the reference position or corrects the temporary travel route so as to make an extension line pass through the reference position, and sets the corrected temporary travel route as the start travel route.

6. The system according to claim 1, characterized in that The route setting unit sets the start travel route and the other travel routes so as to extend along a boundary line of the work area.

7. The system according to claim 1, characterized in that have: a previous travel reference acquisition unit that acquires a previous travel reference that is a travel reference of a previous working vehicle that has performed work travel in the same field in the past; as well as a route direction determining unit that determines a route direction based on the previous travel reference, The route setting unit sets the start travel route and the other travel routes so as to extend along the route orientation.

8. The system according to any one of claims 1 to 7, characterized in that The method further comprises a travel track acquisition unit that acquires a travel track of the work vehicle when the work vehicle is traveling on the outermost periphery of the field. The work area acquisition unit generates the work area based on the travel trajectory.

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