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 improve the work accuracy of work at a corner part of a work area. The generation processing unit (312) determines whether or not the work at the corner of the work area is completed to a predetermined position on the inside of the work area, and generates a corner work path for performing the work at the corner when it is determined that the work at the corner of the work area is not completed to the predetermined position.

Description

Technical Field

[0001] This invention relates to a technique for generating paths for work vehicles. Background Technology

[0002] Previously, there were known systems that generated a spiral travel path for harvesting operations from the outside to the inside of the field and enabled the work vehicle to travel automatically along the travel path (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-124149

[0004] When the work vehicle travels automatically along the aforementioned spiral path, it is necessary to change direction at the corner of the harvested area in the field where the harvested crops are located, so that the work vehicle can turn towards the next work path. Here, for example, if the harvesting of the crops at the corner is insufficient, there is a problem that the work vehicle may come into contact with or run over the crops when changing direction at the corner. Summary of the Invention

[0005] The purpose of this invention is to provide a path generation method, path generation program, and path generation system that can improve the accuracy of operations at corners in a work area.

[0006] The path generation method involved in this invention is a method for generating an automatic driving path for a work vehicle to perform specified work on a work object in a work area. The path generation method performs the following steps: determining whether the work at the corner of the work area has been completed to a specified position inside the work area; and if it is determined that the work at the corner of the work area has not been completed to the specified position, generating a corner work path for performing the work at the corner.

[0007] The path generation program involved in this invention is a program for generating an automatic driving path for a work vehicle to perform a specified operation on a work object in a work area. The path generation program is used to cause one or more processors to execute: determining whether the work at the corner of the work area has been completed to a specified position inside the work area; and, if it is determined that the work at the corner of the work area has not been completed to the specified position, generating a corner work path for performing the corner work.

[0008] The path generation system of this invention generates an automated driving path for a work vehicle to perform a specified operation on a work object in a work area. The path generation system includes a generation processing unit that determines whether the work at a corner of the work area has been completed to a predetermined position inside the work area. If it is determined that the work at the corner of the work area has not been completed to the predetermined position, a corner work path is generated for performing the work at the corner.

[0009] According to the present invention, a path generation method, a path generation program, and a path generation system are provided that can improve the accuracy of operations at corners of a work area. Attached Figure Description

[0010] Figure 1 This is a functional block diagram illustrating the structure of the driving system according to an embodiment of the present invention.

[0011] Figure 2 This is an external view showing the structure of the combine harvester according to an embodiment of the present invention.

[0012] Figure 3 This is a diagram illustrating an example of a target path set in a field according to an embodiment of the present invention.

[0013] Figure 4A This is a diagram illustrating an example of the operating steps of a combine harvester according to an embodiment of the present invention.

[0014] Figure 4B This is a diagram illustrating an example of the operating steps of a combine harvester according to an embodiment of the present invention.

[0015] Figure 4C This is a diagram illustrating an example of the operating steps of a combine harvester according to an embodiment of the present invention.

[0016] Figure 5A This is a diagram illustrating an example of a corner harvesting operation of a combine harvester according to an embodiment of the present invention.

[0017] Figure 5B This is a diagram illustrating an example of a corner harvesting operation of a combine harvester according to an embodiment of the present invention.

[0018] Figure 6A This is a diagram illustrating an example of an operation screen displayed on an operating terminal according to an embodiment of the present invention.

[0019] Figure 6B This is a diagram illustrating an example of a path generation result screen displayed on an operating terminal according to an embodiment of the present invention.

[0020] Figure 7A This is a diagram illustrating a specific example of the position (non-working height) of the harvesting section of a combine harvester according to an embodiment of the present invention.

[0021] Figure 7B This is a diagram illustrating a specific example of the position (intermediate height) of the harvesting section of a combine harvester according to an embodiment of the present invention.

[0022] Figure 7C This is a diagram illustrating a specific example of the position (working height) of the harvesting section of a combine harvester according to an embodiment of the present invention.

[0023] Figure 8A This is a diagram illustrating a specific example of a harvesting operation in the outermost peripheral area of ​​a combine harvester according to an embodiment of the present invention.

[0024] Figure 8B This is a diagram illustrating a specific example of a harvesting operation in the outermost peripheral area of ​​a combine harvester according to an embodiment of the present invention.

[0025] Figure 8C This is a diagram illustrating a specific example of a harvesting operation in the outermost peripheral area of ​​a combine harvester according to an embodiment of the present invention.

[0026] Figure 8D This is a diagram illustrating a specific example of a harvesting operation in the outermost peripheral area of ​​a combine harvester according to an embodiment of the present invention.

[0027] Figure 8E This is a diagram illustrating a specific example of a harvesting operation in the outermost peripheral area of ​​a combine harvester according to an embodiment of the present invention.

[0028] Figure 8F This is a diagram illustrating a specific example of turning motion in the outermost peripheral region of a combine harvester according to an embodiment of the present invention.

[0029] Figure 9 This diagram shows the state in which the harvesting operation of the outermost perimeter area of ​​the field involved in the embodiments of the present invention has been completed.

[0030] Figure 10 This is a diagram illustrating an example of an inner perimeter path (corner harvesting path) at a corner of a field according to an embodiment of the present invention.

[0031] Figure 11 This is a diagram illustrating an example of an inner perimeter path (turning path) at a corner of a field according to an embodiment of the present invention.

[0032] Figure 12This is a diagram illustrating an example of the inner perimeter path of the inner perimeter area of ​​a field according to an embodiment of the present invention.

[0033] Figure 13 This is a diagram illustrating other examples of corner harvesting paths according to embodiments of the present invention.

[0034] Figure 14 This is a diagram illustrating other methods for generating corner harvesting paths according to embodiments of the present invention.

[0035] Figure 15 This is a diagram illustrating other methods for generating corner harvesting paths according to embodiments of the present invention.

[0036] Figure 16 This is a flowchart illustrating an example of the steps involved in the generation process of the inner circumferential path performed by the driving system according to an embodiment of the present invention.

[0037] Figure 17A This diagram illustrates a scenario where the farmland according to an embodiment of the present invention is divided into a grid pattern.

[0038] Figure 17B This is a diagram showing the location information of each section of the field involved in the embodiments of the present invention.

[0039] Figure 18 This is a diagram illustrating a specific example of the operating rate calculated for each section of a field according to an embodiment of the present invention.

[0040] Figure 19 This is a diagram illustrating an example of work site information stored in a driving system according to an embodiment of the present invention.

[0041] Figure 20A This is a diagram illustrating an example of a method of driving a combine harvester at a corner according to an embodiment of the present invention.

[0042] Figure 20B This is a diagram illustrating an example of a method of driving a combine harvester at a corner according to an embodiment of the present invention.

[0043] Figure 20C This is a diagram illustrating an example of a method of driving a combine harvester at a corner according to an embodiment of the present invention.

[0044] Figure 20D This is a diagram illustrating an example of a method of driving a combine harvester in the inner peripheral region according to an embodiment of the present invention.

[0045] Figure 20E This is a diagram illustrating an example of a method of driving a combine harvester in the inner peripheral region according to an embodiment of the present invention.

[0046] Figure 21 This is a diagram illustrating a specific example of the operating rate calculated for each section of a field according to an embodiment of the present invention.

[0047] Figure 22 This is a diagram illustrating an example of a driving screen displayed on an operating terminal according to an embodiment of the present invention.

[0048] Figure 23 This is a flowchart illustrating an example of the steps of an automatic driving process performed by a driving system according to an embodiment of the present invention.

[0049] Figure 24A This is a diagram illustrating the operation of the harvesting section of a combine harvester according to an embodiment of the present invention.

[0050] Figure 24B This is a diagram illustrating the operation of the harvesting section of a combine harvester according to an embodiment of the present invention.

[0051] Figure 25 This is a flowchart illustrating an example of the steps of motion control processing of the harvesting unit performed by the driving system according to an embodiment of the present invention.

[0052] Figure 26 This is a diagram illustrating another example of a method of driving a combine harvester at a corner according to an embodiment of the present invention.

[0053] Figure 27 This is a diagram illustrating another example of a method of driving a combine harvester at a corner according to an embodiment of the present invention.

[0054] Figure 28 This is a diagram illustrating an example of multiple target lines involved in an embodiment of the present invention.

[0055] Figure 29 This is a diagram illustrating an example of a method for setting a work target line according to an embodiment of the present invention.

[0056] Figure 30 This is a diagram illustrating an example of a method for setting a terminal for a work path according to an embodiment of the present invention.

[0057] Figure 31A This is a diagram illustrating a specific example of a method for working at a corner according to an embodiment of the present invention.

[0058] Figure 31B This is a diagram illustrating a specific example of a method for working at a corner according to an embodiment of the present invention.

[0059] Figure 31CThis is a diagram illustrating a specific example of a method for working at a corner according to an embodiment of the present invention.

[0060] Figure 32A This is a diagram illustrating a specific example of a method for traveling along a corner path according to an embodiment of the present invention.

[0061] Figure 32B This is a diagram illustrating a specific example of a method for traveling along a movement path at a corner according to an embodiment of the present invention.

[0062] Figure 32C This is a diagram illustrating a specific example of a method for traveling along a corner path according to an embodiment of the present invention.

[0063] Figure 33A This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0064] Figure 33B This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0065] Figure 34 This is a diagram illustrating a specific example of a work path at a corner according to an embodiment of the present invention.

[0066] Figure 35 This is a diagram illustrating a specific example of a work path at a corner according to an embodiment of the present invention.

[0067] Figure 36A This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0068] Figure 36B This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0069] Figure 36C This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0070] Figure 36D This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0071] Figure 36E This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0072] Figure 36F This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0073] Figure 36GThis is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0074] Figure 36H This is a diagram illustrating a specific example of turning at a corner according to an embodiment of the present invention.

[0075] Figure 37 This is a flowchart illustrating an example of the steps involved in the turning path generation process performed by the driving system according to an embodiment of the present invention.

[0076] Figure 38 This is a diagram illustrating a specific example of a method for traveling along a corner path according to an embodiment of the present invention.

[0077] Figure 39A This is a diagram illustrating a specific example of a method for generating a turning path at a corner according to an embodiment of the present invention.

[0078] Figure 39B This is a diagram illustrating a specific example of a method for generating a turning path at a corner according to an embodiment of the present invention.

[0079] Figure 40A This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0080] Figure 40B This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0081] Figure 40C This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0082] Figure 41 This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0083] Figure 42 This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0084] Figure 43 This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0085] Figure 44A This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0086] Figure 44B This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0087] Figure 45 This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0088] Figure 46A This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0089] Figure 46B This is a diagram illustrating a specific example of a turning path at a corner according to an embodiment of the present invention.

[0090] Explanation of reference numerals in the attached figures

[0091] 10...Travel system (automatic travel system); 1...Combiner (operating vehicle); 11...Vehicle control device; 15...Harvesting section; 111...Travel processing section; 112...Operation processing section; 113...Registration processing section; 3...Operating terminal; 31...Operation control section; 311...Setting processing section; 312...Generation processing section; 313...Output processing section; F...Field (operating area); F0...Outer perimeter area; F1...Inner perimeter area; Fc1...Outer perimeter position; C1...Operation Ground information; S...start position; G...end position; H0...non-operational height; H1...operational height; H2...intermediate height; K...zone; L0...baseline; L1...inclined path; L2...inclined path; La...outer contour line; Ls...target line; R...target path; R1...operational path (first path); R21...first inclined path (second path); R22...second inclined path (second path); Ra...outermost circumference path; Rb...inner circumference path (autonomous driving path). Detailed Implementation

[0092] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0093] As an example of the operating vehicle of the present invention, a combine harvester 1 will be used for illustration. Figure 1 As shown, the driving system 10 according to the embodiments of the present invention includes a combine harvester 1 and an operating terminal 3. The combine harvester 1 and the operating terminal 3 can communicate via a communication network N1. For example, the combine harvester 1 and the operating terminal 3 can communicate via a mobile phone network, a packet network, or a wireless LAN.

[0094] The combine harvester 1 is a work vehicle that performs agricultural operations such as harvesting in the field (an example of the specified operation of the present invention). The combine harvester 1 performs its work while moving, and sends the GNSS information of the GNSS antenna mounted on the combine harvester 1, that is, the position of the combine harvester 1 itself, as measurement point data to the operation terminal 3.

[0095] Furthermore, the combine harvester 1 can automatically travel along a pre-set target path. Additionally, the combine harvester 1 can be configured to travel manually in a portion of the field (e.g., the outermost perimeter) and automatically in other areas (e.g., the inner perimeter). Furthermore, the combine harvester 1 can also be configured to receive various setting information from the operating terminal 3 and travel automatically based on that setting information.

[0096] The operating terminal 3 is a portable terminal capable of remotely operating the combine harvester 1, such as a tablet computer, a laptop computer, or a smartphone. Alternatively, the combine harvester 1 can be equipped with the same operating device as the operating terminal 3.

[0097] The operator can set various parameters (such as the automatic driving path) on the operating terminal 3. Additionally, the operating terminal 3 displays information such as the operating status and driving status of the combine harvester 1 during automatic driving. The operator can monitor the operating and driving status on the operating terminal 3.

[0098] exist Figure 3 The diagram illustrates an example of a target path R set for a field F. For instance, a combine harvester 1, within field F, performs harvesting operations along the outermost perimeter path Ra while traveling along the outermost perimeter path Ra in the outermost perimeter area F0, which serves as the boundary of field F. It also performs harvesting operations along the inner perimeter path Rb in the inner perimeter area F1, which is closer to the outermost perimeter area F0. The target path R includes both the outermost perimeter path Ra and the inner perimeter path Rb. The combine harvester 1 can perform both travel and harvesting operations along the outermost perimeter path Ra based on manual operation (manual steering) by the operator, and automatically travel along the inner perimeter path Rb while performing harvesting operations. Alternatively, the combine harvester 1 can also automatically travel along both the outermost perimeter path Ra and the inner perimeter path Rb while performing harvesting operations.

[0099] In this embodiment, an example is given of a combine harvester 1 that performs manual operation and harvesting work (corner harvesting) along at least a portion of the outermost peripheral path Ra (corners of the field F) based on the operator's manual control. In the inner peripheral area F1, it automatically travels along the inner peripheral path Rb (automatic travel path) from the starting position S (automatic travel start position) to the ending position G (automatic travel end position) while simultaneously performing harvesting work. Furthermore, in Figure 3The diagram shows a harvesting operation method ("circling harvesting") in which the combine harvester 1 performs harvesting operations while traveling from the outer periphery to the inner periphery from the starting position S to the ending position G. However, as another embodiment, it may also be a harvesting operation method ("reciprocating harvesting") in which the combine harvester 1 performs harvesting operations while traveling back and forth from the starting position S to the ending position G.

[0100] Figure 4 illustrates an example of the operating steps of combine harvester 1. First, as shown in Figure 4... Figure 4A As shown, when the combine harvester 1 starts moving at a designated position (e.g., a corner) in the field F according to the operator's instructions, it moves along the outermost perimeter of the field F while harvesting rice stalks. Furthermore, when the combine harvester 1 threshes the harvested rice stalks, it discharges straw and other stalk fragments from the rear of the machine to the outside. Thus, as... Figure 4B As shown, straw B1 accumulates on the travel track of combine harvester 1, forming a straw column along the path where combine harvester 1 has completed its harvesting operation. Furthermore, combine harvester 1 is configured to discharge harvested straw towards the location of the target grain stalk, and is configured to control the position, width (lateral width of the straw column in the left-right direction), and length of straw B1. For example, straw B1 is discharged with a width narrower than the lateral width of the machine body, based on the center of combine harvester 1 in the left-right direction.

[0101] When the harvesting operation in the outermost peripheral area F0 is completed, such as Figure 4C As shown, combine harvester 1 begins automatic travel and harvesting operations from starting position S within the inner perimeter area F1. Combine harvester 1 performs harvesting operations while automatically traveling along the inner perimeter path Rb, and terminates automatic travel and harvesting operations when it reaches the ending position G.

[0102] Here, combine harvester 1 changes direction (turns) at the corner of field F while performing harvesting operations. For example, as Figure 5A As shown, combine harvester 1 is on one side of the field ( Figure 5A After harvesting along direction A1 on the right side of the field, the other sides of the field ( Figure 5A When harvesting is carried out along the A2 direction (above), at the corner ( Figure 5A At the upper right corner of the field F, the orientation of combine harvester 1 is changed from direction A1 to direction A2. This creates turning areas for combine harvester 1 at each corner of the field F to move (turn) to the next path.

[0103] To generate the aforementioned turning area, as follows: Figure 5B As shown, when the harvesting operation in direction A1 is completed (refer to...) Figure 5ACombine harvester 1 reverses to the designated position and stops, changes its direction of travel at the corner, and performs harvesting operations along the inclined direction while moving forward. Combine harvester 1 repeats the forward and reverse movement to perform corner harvesting operations (hereinafter referred to as corner harvesting operations) until it can ensure that the orientation of the machine body can be changed to the A2 direction.

[0104] The driving system 10 according to this embodiment includes: a structure for enabling the combine harvester 1 to perform corner harvesting operations in the outermost peripheral region F0 ("first structure"); a structure for generating an inner peripheral path Rb (automatic driving path) of the inner peripheral region F1 ("second structure"); a structure for controlling the automatic driving of the combine harvester 1 along the generated inner peripheral path Rb ("third structure"); and a structure for controlling the operation (e.g., lifting and lowering) of the harvester (harvesting unit 15) based on the generated inner peripheral path Rb ("fourth structure"). Specific examples of the first to fourth structures will be described later. Furthermore, the driving system 10 may include any one of the first to fourth structures, or it may include multiple structures.

[0105] [Operating Terminal 3]

[0106] like Figure 1 As shown, the operation terminal 3 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 3 is, for example, a tablet terminal.

[0107] The communication unit 34 is a communication interface for connecting the operation terminal 3 to the communication network N1 via wired or wireless means, and for performing data communication with one or more external devices such as combine harvesters 1 via the communication network N1 in accordance with a prescribed communication protocol.

[0108] The operation display unit 33 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as a touch panel, mouse, or keyboard for receiving operations. The operator can operate the operation unit to register various setting information on the setting screen (not shown) displayed on the display unit. Furthermore, the operator can operate the operation unit to give automatic driving instructions to the combine harvester 1. Additionally, the operator can monitor the driving status of the combine harvester 1, which is automatically moving within the field F, from a location remote from the combine harvester 1, by observing the driving trajectory displayed on the operation terminal 3. Furthermore, the operator can monitor the operating status displayed on the operation terminal 3 from a location remote from the combine harvester 1.

[0109] Storage unit 32 is a non-volatile storage unit that stores various types of information, such as HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory. Storage unit 32 stores control programs for instructing operation control unit 31 to perform prescribed processes. For example, these control programs are non-temporarily recorded on computer-readable recording media such as flash ROM, EEPROM, CD, or DVD, and are read and stored in storage unit 32 by a prescribed reading device (not shown) provided with operation terminal 3. Furthermore, the control programs can also be downloaded from a server (not shown) to operation terminal 3 via communication network N1 and stored in storage unit 32. Additionally, storage unit 32 can also store work information sent from combine harvester 1. Moreover, the control programs include control programs corresponding to each of the first to fourth structures described above.

[0110] In addition, a dedicated application program for enabling the combine harvester 1 to operate automatically is installed in the storage unit 32. The operation control unit 31 activates the dedicated application program to perform setting and processing of various setting information related to the combine harvester 1, and to issue automatic driving instructions for the combine harvester 1.

[0111] The operation control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory that pre-stores control programs such as BIOS and OS for the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory that stores various information and serves as temporary storage for the various processes performed by the CPU. Thus, the operation control unit 31 controls the operation terminal 3 by executing various control programs pre-stored in the ROM or memory unit 32 using the CPU.

[0112] like Figure 1 As shown, the operation control unit 31 includes various processing units such as a setting processing unit 311, a generation processing unit 312, and an output processing unit 313. Furthermore, the operation control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the control program may be a program for enabling multiple processors to function as these processing units.

[0113] The setting processing unit 311 sets various setting information for the combine harvester 1 to perform automatic operation. Specifically, the setting processing unit 311 sets field information related to the field F. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost perimeter of the field, measurement point data constituting the outermost perimeter of the field, and the shape, size, and location information (coordinates, etc.) of the work area within the field F where operations are carried out. Furthermore, the field information includes the address of the field F, the registration name and registration date of the field information, and the registration name and registration date of the work area within the field. The setting processing unit 311 sets the field information based on the operator's registration operation.

[0114] In addition, the setting processing unit 311 sets the travel speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight-going speed, turning speed, and reverse speed during operation and non-operation in the setting screen.

[0115] In addition to the above information, the setting processing unit 311 also sets known information such as the type of combine harvester 1 (maximum number of harvesting rows), vehicle width, and vehicle length.

[0116] The generation processing unit 312 generates an automatic driving path for the combine harvester 1 to perform prescribed operations on the field F. Specifically, the generation processing unit 312 generates a target path R (outermost path Ra and innermost path Rb) that includes a working path and a turning path. For example, the generation processing unit 312 generates the outermost path Ra based on the operator's manual driving registration operation. For example, when the operator registers two reference points (…) when driving the combine harvester 1 straight in the outermost perimeter area F0 of the field F… Figure 8A In the case of operations involving points A and B (as shown), the generation processing unit 312 sets the straight line (baseline L0) passing through the two reference points as the outermost peripheral path Ra. The generation processing unit 312 sets the outermost peripheral path Ra corresponding to each edge of the outer perimeter of the field F. The method for generating the outermost peripheral path Ra is not limited to this. If the shape of the field F has already been registered, the generation processing unit 312 can also generate a path parallel to the outer edge of the field F as the outermost peripheral path Ra, or it can generate the outermost peripheral path Ra based on the vehicle orientation when the operator performs a specified operation.

[0117] Furthermore, even if the shape of field F is not registered, the setting processing unit 311 can also register the shape and size of field F based on the travel trajectory (measurement point data) obtained during the period when the operator manually drives and harvests the combine harvester 1. Additionally, the setting processing unit 311 can also register the shape and size of field F based on the travel trajectory obtained during the period when the operator manually drives and harvests the combine harvester 1 along the outermost perimeter path Ra.

[0118] Additionally, the operator selects the path mode and turning type in the settings screen (not shown). The path modes include "circular cut," which involves repeatedly shifting the path along the inner perimeter of the inner area F1 towards the center, and "reciprocating cut," which involves multiple passes. The operator can select either path mode. The turning types include "small turn," which has a small turning radius; "large turn (gentle)," which has a large turning radius; and "standard," which falls between the two. The operator can also adjust the turning radius in the settings screen. Furthermore, the operator can select whether to perform corner harvesting operations on field F in the settings screen.

[0119] Based on the aforementioned field information, path pattern, turn type, turn radius, and whether or not corner harvesting operations are performed, the generation processing unit 312 generates an inner perimeter path Rb (automatic driving path) from the start position S to the end position G. For example, when the harvesting operation in the outermost perimeter area F0 ends, the operator presses the operation screen D1 (refer to...). Figure 6A When the path generation button Ka ("Automatic Path Generation") is pressed, the generation processing unit 312 generates the inner peripheral path Rb.

[0120] Furthermore, the generation processing unit 312 can set the starting position S to the current position of the combine harvester 1 when generating the inner circumferential path Rb, or it can set the starting position S to a position specified by the operator on the map. Additionally, when corner harvesting is set to "Yes" in the aforementioned setting screen, the generation processing unit 312 generates an automatic driving path (hereinafter referred to as the corner harvesting path) for the combine harvester 1 to perform corner harvesting while automatically driving. The corner harvesting path includes a straight path and a turning path in both the forward and reverse directions. Furthermore, the corner harvesting path can also be configured as one or more loops (e.g., 2-3 loops) of inner circumferential path Rb on the outer periphery of the inner circumferential path Rb, but not included in inner circumferential paths Rb closer to the inner periphery (see reference). Figure 12 ).

[0121] When the generation processing unit 312 generates the inner peripheral path Rb, the generated path information is displayed on the path generation result screen D2 (see reference). Figure 6B Furthermore, the generation processing unit 312 establishes a corresponding registration between the generated inner perimeter path Rb and the field F (field registration name). A specific example of the method for generating the target path R (second structure) will be described later.

[0122] The output processing unit 313 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, based on the operator's operation, the output processing unit 313 outputs an automatic travel start instruction (work start instruction) and an automatic travel end instruction (work end instruction) to the combine harvester 1.

[0123] For example, when the combine harvester 1 meets the automatic driving start conditions—that is, when the position of the combine harvester 1 is within a specified distance from the starting position S, the orientation of the combine harvester 1 relative to the orientation of the working path is within a specified angle, and other automatic driving start conditions are also met—automatic driving is permitted. When automatic driving is permitted, the operator can perform an automatic driving start instruction operation on the operation terminal 3. When the operation control unit 31 receives the above-mentioned automatic driving start instruction operation from the operator, the output processing unit 313 outputs the above-mentioned automatic driving start instruction to the combine harvester 1. For example, when starting automatic driving, the operator presses the path generation result screen D2 (refer to...). Figure 6B The automatic driving start button Kb or the operation screen D1 (see reference) is used to start the automatic driving operation. Figure 6A The start button.

[0124] When the vehicle control device 11 of the combine harvester 1 receives the automatic driving start instruction from the operating terminal 3, it causes the combine harvester 1 to begin automatic driving and harvesting operations, performing automatic driving and harvesting operations from the start position S to the end position G along the inner circumferential path Rb. Conversely, when the operation control unit 31 receives the automatic driving stop instruction from the operator, the output processing unit 313 outputs the automatic driving stop instruction to the combine harvester 1. Thus, the vehicle control device 11 receives the automatic driving stop instruction from the operating terminal 3. When the vehicle control device 11 receives the automatic driving stop instruction, it stops the automatic driving and harvesting operations of the combine harvester 1.

[0125] Furthermore, the operating terminal 3 can also access the agricultural support service website (agricultural support website) provided by the server (not shown) via the communication network N1. In this case, the operating terminal 3 can function as an operating terminal for the server by executing a browser program through the operation control unit 31. Thus, the server, equipped with the aforementioned processing units, performs each processing step.

[0126] [Combiner 1]

[0127] Figure 2 This is a side view of the combine harvester 1. Figure 1 and Figure 2As shown, the combine harvester 1 includes a threshing unit 4, a sorting unit 5, a straw processing unit 6, a power unit 8, a control unit 9, a vehicle control device 11, a storage unit 12, a positioning unit 13, a traveling unit 14, a harvesting unit 15 (an example of the harvester of the present invention), a storage unit 16, and a communication unit 17. The combine harvester 1 travels via the traveling unit 14, and threshes the straw harvested by the harvesting unit 15 via the threshing unit 4. The grains are sorted by the sorting unit 5 and stored in the storage unit 16. The combine harvester 1 processes the threshed straw via the straw processing unit 6. The combine harvester 1 is powered by the power supplied by the power unit 8, driving the traveling unit 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw processing unit 6.

[0128] The traveling unit 14 is located below the fuselage frame 29 and includes a pair of left and right tracked traveling devices 2 and a transmission device (not shown). The traveling unit 14 uses power (e.g., rotational power) transmitted from the engine 27 of the power unit 8 to rotate the tracks of the tracked traveling devices 2, thereby enabling the combine harvester 1 to travel in the forward and backward direction or turn left and right. The transmission device transmits the power (rotational power) from the power unit 8 to the tracked traveling devices 2 and can also change the speed of the rotational power.

[0129] The harvesting section 15 is located in front of the traveling section 14 and performs harvesting operations on rows within the harvestable range. The harvesting section 15 includes a divider 28, a lifting device 20, a cutting device 23, a conveying device 7, and a harvesting height detection device 40.

[0130] As shown in Figure 7, the harvesting height detection device 40 includes a device body 41, a grounding body 42, a detection sensor (not shown), etc., to detect the height H of the harvesting section 15 (refer to...). Figure 2 For example, such as Figure 7C As shown, the detection sensor detects the rotation of the main body 41 of the device when the harvesting section 15 descends and the grounding body 42 contacts the ground. The harvesting height detection device 40 detects the height H based on the detection signal from the detection sensor. The vehicle control unit 11 (work processing unit 112) actuates the drive unit (hydraulic cylinder, etc.) of the harvesting section 15 to adjust the height H, so as to maintain the height H detected by the harvesting height detection device 40 at the set height (working height H1). Furthermore, Figure 7A This indicates the height of the harvesting section 15 of the combine harvester 1 when it is not in operation (non-operation height H0). Figure 7BThe height of the harvesting section 15 of the combine harvester 1 during operation is indicated by the intermediate height H2, which prevents the straw B1 from being entangled. Thus, the harvesting section 15 is configured to change to a height that is not in operation (non-operation height H0), a height during operation (operation height H1), and a height between them (intermediate height H2). Furthermore, the intermediate height H2 can be a position set during non-operation or a position set during operation.

[0131] The divider 28 separates the rice stalks in field F row by row, guiding the prescribed number of harvestable rows of stalks toward the lifting device 20. The lifting device 20 lifts the rice stalks guided by the divider 28. The cutting device 23 cuts the rice stalks lifted by the lifting device 20. The conveying device 7 transports the rice stalks cut by the cutting device 23 to the threshing section 4.

[0132] The threshing section 4 is located behind the harvesting section 15. The threshing section 4 includes a feeding chain 18 and a threshing cylinder 19. The feeding chain 18 conveys the rice straw from the conveying device 7 of the harvesting section 15 for threshing, and then conveys the threshed rice straw, i.e., straw, to the straw processing section 6. The threshing cylinder 19 threshers the rice straw conveyed by the feeding chain 18.

[0133] The sorting section 5 is located below the threshing section 4. The sorting section 5 includes a oscillating sorting device 21, an air-pumped sorting device 22, a grain conveying device (not shown), and a straw discharge device (not shown). The oscillating sorting device 21 sieves and sorts the threshed material falling from the threshing section 4 into grains and straw, etc. The air-pumped sorting device 22 further separates the threshed material sorted by the oscillating sorting device 21 into grains and straw, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air-pumped sorting device 22 to the storage section 16. The straw discharge device discharges the straw, etc., sorted by the oscillating sorting device 21 and the air-pumped sorting device 22 out of the machine.

[0134] The storage section 16 is located to the right of the threshing section 4. The storage section 16 includes a storage bin (grain bin) 24 and a discharge device 25. The storage bin 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of a screw conveyor or the like, and discharges the grains stored in the storage bin 24 to the conveyor vehicle at a designated discharge position within the field F.

[0135] The straw processing unit 6 is located behind the threshing unit 4. The straw processing unit 6 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device transports the straw from the feed chain 18 of the threshing unit 4 to the straw cutting device. The straw cutting device cuts the straw conveyed by the straw conveying device and discharges it outside the machine. The straw processing unit 6 discharges the harvested straw to the location of the target grain stalk. Thus, the combine harvester 1 harvests grain stalks while traveling, and discharges the straw B1 to the rear of the machine, thereby accumulating the straw B1 in a row on the travel track of the combine harvester 1 (see reference). Figure 4B wait).

[0136] The power unit 8 is located above the traveling section 14 and in front of the storage section 16. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling section 14, the harvesting section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw processing section 6.

[0137] The control unit 9 is located above the power unit 8. Around the operator's seat (driver's seat), the control unit 9 includes a steering wheel for turning the combine harvester 1, a main gear lever and a secondary gear lever for adjusting the forward and reverse speeds of the combine harvester 1, serving as operating components for controlling the movement of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the travel unit 14, which receives input from the steering wheel, main gear lever, and secondary gear lever of the control unit 9. Furthermore, the control unit 9 includes mechanisms for operating harvesting operations based on the harvesting unit 15, threshing operations based on the threshing unit 4, and discharge operations based on the discharge device 25 of the storage unit 16.

[0138] The positioning unit 13 uses a satellite positioning system such as GPS to obtain the location of the combine harvester 1. For example, the positioning unit 13 receives positioning signals from a positioning satellite via a positioning antenna, and obtains the location information of the positioning unit 13, i.e., the location of the combine harvester 1 (measurement point data), based on the positioning signals. The positioning unit 13 can also be constructed using a quantum compass instead of a positioning antenna.

[0139] Communications Department 17 (refer to Figure 1 It is a communication interface used to connect the combine harvester 1 to the communication network N1 via wired or wireless means, and to perform data communication with external devices such as the operating terminal 3 via the communication network N1 in accordance with the prescribed communication protocol.

[0140] Storage unit 12 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. Storage unit 12 stores control programs for causing the vehicle control device 11 to perform prescribed processes. For example, the control programs are non-temporarily recorded on computer-readable recording media such as flash ROM, EEPROM, CD, or DVD, and are read and stored in storage unit 12 by a designated reading device (not shown). Furthermore, the control programs can also be downloaded from a server (not shown) to the combine harvester 1 via communication network N1 and stored in storage unit 12. In addition, storage unit 12 stores various setting information obtained from the operation terminal 3. Furthermore, the control programs include control programs corresponding to each of the first to fourth structures described above.

[0141] The vehicle control device 11 includes control components such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory that pre-stores control programs such as BIOS and OS for the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory that stores various information and serves as temporary storage for the various processes executed by the CPU. Therefore, the vehicle control device 11 controls the combine harvester 1 by executing various control programs pre-stored in the ROM or memory unit 12 using the CPU.

[0142] Specifically, such as Figure 1 As shown, the vehicle control device 11 includes various processing units such as a driving processing unit 111, a work processing unit 112, and a registration processing unit 113. Furthermore, the vehicle control device 11 functions as these various processing units by executing various processes according to the control program using the CPU. Additionally, some or all of these processing units may be constructed using electronic circuitry. Furthermore, the control program may be a program for enabling multiple processors to function as these processing units.

[0143] The travel processing unit 111 causes the combine harvester 1 to travel along a target path R set for the field F. Specifically, when set to manual travel mode, the travel processing unit 111 causes the combine harvester 1 to travel according to the operator's manual operation. For example, the travel processing unit 111 in the field F (refer to...) Figure 3 In the outermost peripheral area F0, the combine harvester 1 travels straight along the outermost peripheral path Ra according to the operator's forward / backward switching operations and speed switching operations. In addition, in the inner peripheral area F1, the travel processing unit 111 automatically travels the combine harvester 1 along the inner peripheral path Rb (automatic travel path) from the start position S to the end position G.

[0144] The operation processing unit 112 changes the position (posture) of the harvesting unit 15 based on the position of the combine harvester 1, causing the harvesting unit 15 to perform harvesting operations. Specifically, the operation processing unit 112 causes the position (height) of the harvesting unit 15 to change (e.g., rise and fall) in stages between the working height and the non-working height. For example, when the combine harvester 1 is close to the beginning of the working path at a predetermined distance, the operation processing unit 112 sets the harvesting unit 15 to a working height H1 (refer to...). Figure 7C When the combine harvester 1 has passed the end of the working path, the harvesting section 15 is set to a non-working height H0 (refer to...). Figure 7A Additionally, when the combine harvester 1 passes through straw B1 (refer to...), Figure 4B When the operation processing unit 112 is in operation, the harvesting unit 15 can also be set to an intermediate height H2 that can prevent the straw B1 from being entangled.

[0145] [Corner harvesting operation method in the outermost peripheral area F0 (first structure)]

[0146] Next, a specific example of corner harvesting in the outermost perimeter area F0 of field F will be described. The combine harvester 1, within the outermost perimeter area F0, performs corner harvesting operations in field F while moving according to the operator's instructions.

[0147] For example, such as Figure 8A As shown, firstly, the operator rides in combine harvester 1 and moves along the outer perimeter of the harvesting area (in the...) Figure 8A (The middle is on the right) Start driving straight (manual driving), and set the harvesting section 15 to the working height H1 (refer to...). Figure 7C Harvesting operations begin. When the combine harvester 1 has traveled a predetermined distance in a straight line, the operator registers the current position (point A) of the combine harvester 1 on the operating terminal 3. Then, when the combine harvester 1 has traveled a predetermined distance in a straight line from point A, the operator registers the current position (point B) of the combine harvester 1 on the operating terminal 3. When the generation processing unit 312 obtains the registered points A and B, it generates a straight line (baseline L0) passing through points A and B.

[0148] When the baseline L0 is generated, the combine harvester 1 becomes capable of automatic driving. When the operator gives the instruction to start automatic driving, the combine harvester 1 begins to drive automatically along the baseline L0 in the straight direction. For example, when the operator shifts the main gear lever to the forward position, the combine harvester 1 automatically drives along the baseline L0 in the forward direction at a speed corresponding to the shift position. This enables it to perform harvesting operations on the outer perimeter (right side) of the work area (first stroke).

[0149] Next, when combine harvester 1 reaches the outer perimeter of the work area (at... Figure 8A When the combine harvester 1 stops (as shown in the image above), the operator shifts the main gear lever to the stop position (neutral, etc.) to stop the automatic driving (stop). Additionally, the operator raises the harvesting section 15 to the non-working height H0 to stop the harvesting operation. When the combine harvester 1 stops automatic driving and harvesting, the generation processing unit 312 generates the outline La of the working area based on the stop position of the combine harvester 1 (refer to...). Figure 8B For example, the generation processing unit 312 sets a straight line that passes through the front end of the combine harvester 1 (the front end of the harvesting unit 15) and is perpendicular to the baseline L0 as the outline line La. As another embodiment, the generation processing unit 312 may also set the outline line La along the shape of the working area based on map information.

[0150] Next, when the operator shifts the main gear lever to the reverse position, the combine harvester 1 begins to move automatically in the reverse direction along the baseline L0. Additionally, when the operator shifts the main gear lever to the reverse position, the generation processing unit 312 generates an inclined path L1 (refer to) that passes through an unworked area (uncut area) in the second stroke, adjacent to the already worked area (cut area) of the outer perimeter (right side) (first stroke), and is inclined at a predetermined angle relative to the baseline L0. Figure 8B The combine harvester 1 automatically travels backward along the baseline L0 from the starting position (stop position), and stops (stops) at the intersection of the baseline L0 and the inclined path L1 at point Pa (refer to...). Figure 8C Furthermore, the combine harvester 1 can stop at the intersection point Pa to align the vehicle's orientation with that of the inclined path L1. Alternatively, the combine harvester 1 can reverse along the baseline L0 until it passes the intersection point Pa and then stop.

[0151] Next, when the operator lowers the harvesting section 15 to the working height H1 and shifts the main gear lever to the forward position, the combine harvester 1 begins automatic travel and harvesting operations along the inclined path L1 in the forward direction (see reference). Figure 7C The combine harvester 1 travels along the inclined path L1, and when it reaches the outline line La, it stops its automatic travel (stops). (Refer to...) Figure 8D Additionally, the operator raises the harvesting section 15 to a non-working height H0, thus stopping the harvesting operation. This completes the harvesting operation in the area corresponding to the inclined path L1 (second stroke) within the working area (see reference). Figure 8D Furthermore, the combine harvester 1 can emit a buzzer sound when the remaining distance to the outer contour line La is less than a specified distance, notifying the operator of its approach to the outer contour line La. Additionally, the combine harvester 1 can automatically stop when it has reached the outer contour line La.

[0152] Next, when the operator shifts the main gear lever to the reverse position, the combine harvester 1 begins to move automatically in the reverse direction along the inclined path L1. Additionally, when the operator shifts the main gear lever to the reverse position, the generation processing unit 312 generates an unworked area (unharvested area) in the third stroke, adjacent to the worked area (second stroke) corresponding to the inclined path L1, and inclined at a predetermined angle relative to the inclined path L1 (see reference). Figure 8D The combine harvester 1 automatically travels backward along the inclined path L1 from the starting position (stop position), and stops (stops) at the intersection Pb of inclined path L1 and inclined path L2. Alternatively, the combine harvester 1 can stop at the intersection Pb to align the vehicle's orientation with that of inclined path L2. As another embodiment, the combine harvester 1 can also reverse along the inclined path L1 until it passes the intersection Pb and then stops.

[0153] Next, when the operator lowers the harvesting section 15 to the working height H1 (refer to...), Figure 7C When the operator operates the machine and shifts the main gear lever to the forward position, the combine harvester 1 begins automatic travel and harvesting along the inclined path L2 in the forward direction. The combine harvester 1 stops automatic travel (stops) when it reaches the outline line La (see reference). Figure 8E Additionally, the operator raises the harvesting section 15 to a non-working height H0, thus stopping the harvesting operation. This completes the harvesting operation in the area corresponding to the inclined path L2 (third stroke) within the working area (see reference). Figure 8E In addition, the combine harvester 1 can also emit a beeping sound when the remaining distance to the outer contour line La is less than a specified distance, and notify the operator of the approach to the outer contour line La.

[0154] When the harvesting operation has been completed through the first, second, and third strokes described above, and the combine harvester 1 has secured the turning area required for moving to the next working path at the corner (upper right corner) of the working area, the operator ends the corner harvesting operation and allows the combine harvester 1 to move to the next working path. For example, when the operator shifts the main gear lever to the reverse position, the combine harvester 1 automatically begins to travel in the reverse direction along the inclined path L2, inclined path L1, and baseline L0, and stops at the designated position on baseline L0. Then, the operator shifts the main gear lever to the forward position and manually steers the combine harvester 1 to turn within the already worked area and move to the next working path (see reference). Figure 8F ).

[0155] When combine harvester 1 enters the next working path, the operator walks along the outer perimeter of the working area (in... Figure 8F The combine harvester 1 begins straight-line driving (manual driving) from the top (center) and starts harvesting. Points A and B are registered on the operating terminal 3. This generates a baseline L0 corresponding to the next work path. Then, the combine harvester 1 performs corner harvesting at the corner (upper left corner) of the work area according to the operator's instructions. Similarly, the combine harvester 1 performs corner harvesting at the lower left and lower right corners of the work area according to the operator's instructions.

[0156] When the corner harvesting operation at each corner of the work area is completed, the setting and processing unit 311 determines the shape enclosed by the outline line La and registers the area enclosed by the outline line La as field F (refer to...). Figure 9 In field F, the outermost perimeter area F0 becomes the harvested area where harvesting has been completed, and the inner perimeter area F1 becomes the unharvested area where harvesting has not been completed. Furthermore, the registration method for field F is not limited to this; for example, the processing unit 311 can also apply known techniques such as approximating the position of the combine harvester 1 (measurement point data, positioning point) as a straight line and registering the area enclosed by the approximate straight line as field F (see Japanese Patent Application Laid-Open No. 2022-87959 and Japanese Patent Application Laid-Open No. 2023-56476).

[0157] As described above, the driving system 10 performs corner harvesting operations in the outermost peripheral area F0. Furthermore, in the above embodiment, the corner harvesting operation in the outermost peripheral area F0 was described when the field F was not registered; however, when the field F is registered, the generation process of the outline La is omitted. In this case, the operator only needs to make the combine harvester 1 automatically drive along the outer perimeter (right, top, left, bottom) of the field F and then stop automatic driving. The baseline L0, the inclined path L1, and the inclined path L2 are included in the outermost peripheral path Ra.

[0158] Furthermore, in the above structure, the generation processing unit 312 sets the tilt angle of the tilt path L1 and the position of the intersection point Pa to prevent the intersection point Pa (refer to...) from being in the wrong place at the intersection point Pa (refer to...) Figure 8C At point 1, the rear end of the combine harvester 1 protrudes outside the work area due to the turning motion during the second stroke. Similarly, the generation and processing unit 312 sets the tilt angle of the tilt path L2 and the position of the intersection point Pb to prevent the intersection point Pb (refer to...) from protruding outside the work area. Figure 8DThe combine harvester 1 protrudes beyond the work area due to its turning motion during the third stroke. Alternatively, a maximum tilt angle (maximum tilt angle) can be preset. In this case, the generation processing unit 312 can, for example, first draw a tilting line at the maximum tilt angle, then reduce the tilt angle if the harvester protrudes beyond the work area, setting the tilting line with the maximum angle at which the harvester does not protrude beyond the work area as tilting path L1. Thus, the generation processing unit 312 determines the tilt angles of tilting paths L1 and L2 to prevent the rear end of the harvester from protruding beyond the work area.

[0159] The corner harvesting method (first structure) in the outermost peripheral area F0 is not limited to the method described above. As another embodiment of the first structure, the combine harvester 1 can also perform harvesting operations in the outermost peripheral area F0 while driving (manual driving) according to the operator's manual steering control. In addition, the setting processing unit 311 can also determine the shape of the worked area and register the field F based on the position information of the combine harvester 1 obtained during manual driving.

[0160] Alternatively, as another implementation, the combine harvester 1 can also perform harvesting operations in the outermost peripheral area F0 by driving automatically, without relying on operations performed by an operator (such as shifting gears with the main gear lever).

[0161] Alternatively, as another implementation, if the shape of the field F has been registered, the combine harvester 1 can also automatically travel along a path parallel to the outer edge of the field F.

[0162] [Method for generating the inner perimeter path Rb (autonomous driving path) (second structure)]

[0163] Next, a specific example of a method for generating an automatic travel path (inner perimeter path Rb) for the combine harvester 1 to travel automatically in the inner perimeter region F1 will be described. The travel system 10 generates the inner perimeter path Rb based on the location of the unworked area (unworked land), the location of the worked area (worked land), and the shape of the field F (the location of the outer perimeter of the field). In addition, the travel system 10 performs the inner perimeter path Rb generation process after the harvesting operation in the outermost perimeter region F0 is completed. As another embodiment, the travel processing unit 111 may also obtain the location information of the outermost perimeter region F0 and perform the inner perimeter path Rb generation process before the harvesting operation in the outermost perimeter region F0.

[0164] Figure 10 This represents a specific instance of the inner perimeter path Rb in field F. Furthermore, in... Figure 10In the attached diagram, the reference numeral "Fc" indicates the boundary between the worked area and the unworked area, that is, the outermost position of the unworked area or the outermost position of the worked area. The outermost position Fc is determined by the driving and operation of the outermost area F0 (see Figure 8). Figure 9 To determine.

[0165] like Figure 10 As shown, the generation processing unit 312 of the operation terminal 3 generates a work path R1 based on the outermost perimeter position Fc1 of the unworked area or the right edge of the field F. Specifically, the generation processing unit 312 generates a work path R1 along a straight path along the outermost perimeter position Fc1 at a position where the rice stalks at the outermost perimeter position Fc1 can be harvested. Additionally, the generation processing unit 312 also generates a work path R1 at the reference line L0 (see Figure 8) of the outermost perimeter path Ra or the right edge of the field F (see Figure 9). Figure 9 The work path that is parallel to and corresponds to the baseline L0 (refer to) Figure 8A The processing unit 312 generates a work path R1 within one stroke (work width) of the work path. Additionally, the processing unit 312 generates a work path R1 terminating on the extension line Fc2 of the outermost peripheral position Fc.

[0166] Furthermore, the generation processing unit 312 generates a first inclined path R21 with a predetermined inclination angle relative to the work path R1, based on the work path R1. Specifically, the generation processing unit 312 generates the first inclined path R21, which ends at a position offset inward by one stroke (work width) from the end of the work path R1. Additionally, the generation processing unit 312 determines the inclination angle of the first inclined path R21 to prevent the rear end of the combine harvester 1 from protruding beyond the field F. The generation processing unit 312 sets the intersection point P1 of the determined inclination angle first inclined path R21 and the work path R1 as the beginning of the first inclined path R21. Alternatively, the intersection point P1 can be set at a position 12m (reverse distance) away from the outline La.

[0167] In another implementation, the generation processing unit 312 can also generate a first tilt path R21 based on the angle set by the operator within the range up to the maximum tilt angle. Alternatively, the operation terminal 3 can display the completed work area and the anticipated work area if work is carried out according to the outermost peripheral path Ra and the corner harvesting path, allowing the operator to receive tilt angle setting operations. This enables the generation of the corner harvesting path desired by the operator. Furthermore, the generation processing unit 312 can automatically set the tilt path angle (tilt angle) based on unworked areas to follow the unworked areas.

[0168] Alternatively, the generation processing unit 312 can set the beginning of the first inclined path R21 at a predetermined distance offset forward from the end of the working path R1, and determine the inclination angle of the first inclined path R21. Furthermore, the predetermined distance can be set by the operator. Alternatively, the predetermined distance can also be the distance the combine harvester 1 travels backward after completing the work on the working path R1. That is, the generation processing unit 312 can also determine the inclination angle of the first inclined path R21 based on the working width corresponding to the working path R1, the working width (one stroke) corresponding to the first inclined path R21, and the distance the combine harvester 1 travels backward after completing the work on the working path R1.

[0169] When generating the first inclined path R21, the generation processing unit 312 determines whether the corner of the inner peripheral region F1 can ensure the turning area required for the combine harvester 1 to turn. If it is determined that the turning area cannot be ensured, a second inclined path R22 inclined relative to the first inclined path R21 is generated inside the first inclined path R21.

[0170] Specifically, the generation processing unit 312 generates a second inclined path R22 that is offset inward by one stroke (working width) from the end of the first inclined path R21, with the end point being a second inclined path R22. Furthermore, the generation processing unit 312 determines the inclination angle of the second inclined path R22 to prevent the rear end of the combine harvester 1 from protruding beyond the field F. The generation processing unit 312 sets the intersection point P2 of the determined inclination angle of the second inclined path R22 and the first inclined path R21 as the beginning of the second inclined path R22. Thus, the generation processing unit 312 generates a first inclined path R21 with a first inclination angle relative to the working path R1 inside the working path R1, and generates a second inclined path R22 with a second inclination angle larger than the first inclination angle relative to the working path R1 inside the first inclined path R21. Alternatively, the generation processing unit 312 may generate a second inclined path R22 with the same inclination angle as the first inclination angle inside the first inclined path R21.

[0171] In another implementation, the generation processing unit 312 may also set the beginning of the second inclined path R22 as the intersection point P1.

[0172] The generation processing unit 312 generates a work path with an inclination angle inside the work path one stroke prior, until it can ensure that the work path from work path R1 to the next work path (along...) Figure 10The turning area required for movement of the work path (shown above the field F). Work path R1, first inclined path R21, and second inclined path R22 are corner harvesting paths and are included in the inner perimeter path Rb. Work path R1 is an example of the first path of the present invention, and first inclined path R21 and second inclined path R22 are examples of the second path of the present invention. Furthermore, the generation processing unit 312 may also set the ends of work path R1, first inclined path R21, and second inclined path R22 at the outer edge of the field F (…). Figure 10 (Above the field F shown).

[0173] When generating a work path for corner harvesting operations, the generation processing unit 312 generates a movement path R3 for moving to the next work path. For example, Figure 11 As shown, the generation processing unit 312 generates a movement path R3 at the corner of the field F, which connects the operation path R1 with the next operation path and includes a turning path and a straight path. Specifically, in the specification of generating operation paths for each side of the unoperated area, even when the operation path is generated along the short side formed between the upper and right sides of the unoperated area by traveling on the corner harvesting path, the generation processing unit 312 does not generate a movement path R3 that moves towards the operation path corresponding to the upper side by traveling on the operation path corresponding to the short side if the operation path corresponding to the short side is less than a specified length. In addition, the generation processing unit 312 can also generate a movement path R3 that causes the combine harvester 1 to travel along the second inclined path R22 (see reference). Figure 10 After moving forward, it reverses to the right and turns towards the corresponding work path above, following the movement path R3. Movement path R3 is included in the inner perimeter path Rb.

[0174] The generation processing unit 312 generates corner harvesting paths and movement paths R3 at each corner of the field F. Furthermore, if the generation processing unit 312 cannot secure the turning area of ​​the combine harvester 1 at a corner by using a corner harvesting path corresponding to the first lap of the circle, it generates a corner harvesting path corresponding to the second lap of the circle. The generation processing unit 312 generates multiple laps of corner harvesting paths until a turning area can be secured at a corner. Additionally, the generation processing unit 312 can determine whether to generate a corner harvesting path corresponding to the second lap of the circle after completing the first lap, or it can determine how many laps of corner harvesting paths need to be generated before starting automatic movement on the inner circumference path Rb.

[0175] When the corner harvesting path described above has ensured the turning area at each corner of field F, the generation and processing unit 312 generates a working path R4 (refer to) inside it, excluding the corner harvesting path. Figure 12The work path R4 is configured to exclude corner harvesting paths, but includes straight work paths and movement paths that include turning paths. Work path R4 is included in the inner perimeter path Rb. Furthermore, the turning methods for the turning paths included in work path R4 can be preset by the operator.

[0176] Thus, when the harvesting operation in the outermost perimeter area F0 is completed (refer to...) Figure 9 The generation processing unit 312 performs the generation processing of the inner perimeter path Rb, including the corner harvesting path and the working path R4 inside the corner harvesting path (see reference). Figures 10-12 ).

[0177] Here, the generation processing unit 312 can also perform processing to correct the position of the corner harvesting path. For example, as Figure 13 As shown, when generating the work path R1, if a gap w1 is generated between the working end (right end of the harvesting section 15) of the combine harvester 1 and the outermost peripheral position Fc1, the generation processing unit 312 shifts the work path R1 to the right to eliminate the gap w1. For example, the generation processing unit 312 may also generate the work path R1 based on the shape of the field F and shift the work path R1 based on the position of the unworked area. Furthermore, the generation processing unit 312 may also shift the work path R1 so that the right side of the working width of the work path R1 overlaps the left side of the working width of the outermost peripheral path Ra by a predetermined amount.

[0178] As other implementation methods, such as Figure 14 As shown, the generation processing unit 312 can also set the target line Ls (recommended harvesting line) for the outermost perimeter area F0, and determine the inclination angle of the corner harvesting path based on the target line Ls. The target line Ls indicates the target position (marker) when the operator manually drives the combine harvester 1 and performs harvesting operations within the outermost perimeter area F0. For example, the target line Ls is displayed on the operation terminal 3, and the operator performs harvesting operations while driving the combine harvester 1 within the outermost perimeter area F0, while confirming the target line Ls. Thus, harvesting operations can be reliably performed until the target line Ls is reached. The target line Ls is, for example, set at a position narrower than the working width from the end of the field F, where the combine harvester 1 can turn at a corner.

[0179] The generation processing unit 312 generates, for example, a working path R1 parallel to the working target line Ls and a first inclined path R21. The travel processing unit 111, by automatically driving the combine harvester 1 along the inner perimeter path Rb generated based on the working target line Ls, can prevent harvesting residue at the boundary between the outermost perimeter region F0 and the inner perimeter region F1, and can reliably ensure the turning area. Furthermore, the travel processing unit 111 can also allow automatic travel along the inner perimeter path Rb, provided that the harvesting operation has been completed up to the working target line Ls.

[0180] As another implementation, the generation processing unit 312 can also generate a work path for driving parallel to corners and performing harvesting operations (parallel harvesting). For example, such as Figure 15 As shown, the generation processing unit 312 generates a first inclined path R21 and a second inclined path R22 parallel to the working path R1. Specifically, the generation processing unit 312 generates the first inclined path R21, which includes an inclined path R21a with a predetermined inclination angle relative to the working path R1 and passing through the intersection point P1, and a parallel path R21b connected to the inclined path R21a and parallel to the working path R1. Additionally, the generation processing unit 312 generates the second inclined path R22, which includes an inclined path R22a with a predetermined inclination angle relative to the working path R1 and passing through the intersection point P2 of the inclined path R21a and the parallel path R21b, and a parallel path R22b connected to the inclined path R22a and parallel to the working path R1. Based on the structure of performing parallel harvesting at corners, the distance of the turning area (e.g., the distance of the parallel path R22b) can be obtained, thus easily omitting corner harvesting operations after the next lap.

[0181] Thus, in this invention, the first inclined path R21 can be entirely inclined relative to the working path R1 (see reference). Figure 10 It can also be partially tilted relative to the work path R1 (see reference). Figure 15 Similarly, the second inclined path R22 can be inclined entirely relative to the work path R1 (see reference). Figure 10 It can also be partially tilted relative to the work path R1 (see reference). Figure 15 ).exist Figure 15 In the structure shown, the generation processing unit 312 generates an inclined path R22a with the same inclined angle as the inclined path R21a inside the first inclined path R21.

[0182] [Generation and processing of the inner peripheral path Rb (second structure)]

[0183] The following is for reference Figure 16An example of the generation process (path generation process) of the inner perimeter path Rb performed by the driving system 10 will be explained.

[0184] Furthermore, this invention can be understood as an invention of a path generation method that includes one or more steps in the path generation process. Additionally, one or more steps in the path generation process described herein may be appropriately omitted. Furthermore, the execution order of the steps in the path generation process may differ to produce the same effect. Here, the example of the vehicle control device 11 and the operation control unit 31 executing the steps in the path generation process is given, but a path generation method in which one or more processors execute the steps in the path generation process separately is also considered to be another embodiment.

[0185] <Step S11>

[0186] In step S11, the vehicle control device 11 initiates harvesting operations in the outermost perimeter area F0 of the work area (field F) according to the operator's instructions. For example, as Figure 8A As shown, the operator rides in combine harvester 1 and moves along the outer perimeter of the work area (in... Figure 8A The combine harvester 1 begins straight-line driving (manual driving) from the right (center to right) and starts harvesting. Meanwhile, the operator registers points A and B on the operating terminal 3. The operation control unit 31 generates a baseline L0 passing through points A and B. Thus, the vehicle control device 11 causes the combine harvester 1 to automatically drive along the baseline L0 while performing the harvesting operation.

[0187] Additionally, at the corner of the outermost peripheral area F0, the vehicle control device 11, operated by the operator, directs the combine harvester 1 to follow an inclined path L1, L2 with a specified tilt angle (refer to...). Figure 8D and Figure 8E Harvesting operations are carried out while driving (corner harvesting operations).

[0188] <Step S12>

[0189] In step S12, the vehicle control device 11 determines whether the harvesting operation in the outermost peripheral area F0 has been completed. For example, when the combine harvester 1 performs corner harvesting operations at each corner of the outermost peripheral area F0 along an inclined path and completes one revolution around the outermost peripheral area F0, the vehicle control device 11 determines that the harvesting operation in the outermost peripheral area F0 has been completed. Furthermore, when the combine harvester 1 completes one revolution around the work area, the operation control unit 31 records the shape of the field F (refer to...). Figure 9When the harvesting operation in the outermost peripheral area F0 is completed (S12: "Yes"), the process moves to step S13. The vehicle control device 11 continues the harvesting operation until the harvesting operation in the outermost peripheral area F0 is completed (S12: "No").

[0190] <Step S13>

[0191] In step S13, the operation control unit 31 generates an automatic driving path (inner circumference path Rb) for the inner perimeter area F1. Specifically, the operation control unit 31 generates a corner harvesting path for the first circle of the inner perimeter area F1 based on the outermost position of the unworked area or the outer edge of the field F.

[0192] For example, such as Figure 10 As shown, the operation control unit 31 generates a straight path R1 along the outermost perimeter Fc1 of the unworked area at a position where the rice stalks at the outermost perimeter Fc1 can be harvested. Additionally, the generation processing unit 312 generates a path R1 at the reference line L0 (see Figure 8) of the outermost perimeter path Ra or at the right end of the field F (see Figure 9). Figure 9 The work path that is parallel to and corresponds to the baseline L0 (refer to) Figure 8A The operation path R1 is generated inside the 1 stroke (operation width) of the operation.

[0193] Furthermore, the operation control unit 31 generates a first inclined path R21 with a predetermined inclination angle relative to the operation path R1 on the inner side of the operation path R1. For example, the operation control unit 31 determines the inclination angle of the first inclined path R21 to prevent the rear end of the combine harvester 1 from protruding outside the field F.

[0194] When the first inclined path R21 is generated, the operation control unit 31 determines whether the corner of the inner peripheral region F1 can ensure the turning area required for the combine harvester 1 to turn. If it is determined that the turning area cannot be ensured, a second inclined path R22 inclined relative to the first inclined path R21 is generated inside the first inclined path R21. The operation control unit 31 determines the inclination angle of the second inclined path R22 to prevent the rear end of the combine harvester 1 from protruding outside the field F.

[0195] In this way, the operation control unit 31 generates corner harvesting paths for each corner of the inner perimeter area F1, and generates the first circle of automatic driving path.

[0196] <Step S14>

[0197] In step S14, the operation control unit 31 determines whether a corner harvesting path needs to be generated for the inner circumferential path Rb of the next loop (e.g., the second loop). For example, if the turning area required for the combine harvester 1 to turn can be ensured at the corner by traversing the inner circumferential path Rb of the first loop, the operation control unit 31 determines that a corner harvesting path does not need to be generated in the inner circumferential path Rb of the second loop. On the other hand, if the turning area required for the combine harvester 1 to turn cannot be ensured at the corner by traversing the inner circumferential path Rb of the first loop, the operation control unit 31 determines that a corner harvesting path needs to be generated in the inner circumferential path Rb of the second loop. When it is determined that a corner harvesting path does not need to be generated for the inner circumferential path Rb of the next loop (S14: "Yes"), the operation control unit 31 moves the processing to step S15.

[0198] Conversely, when it is determined that a corner harvesting path needs to be generated for the inner circumference path Rb of the next lap (S14: "No"), the operation control unit 31 moves the processing to step S13. When returning to step S13, the operation control unit 31 generates corner harvesting paths for each corner of the next lap (e.g., the second lap) of the inner circumference region F1, generating the automatic driving path for the second lap. The operation control unit 31 generates an inner circumference path Rb including the corner harvesting paths until the turning area required for the combine harvester 1 to turn at the corner is ensured.

[0199] <Step S15>

[0200] In step S15, the operation control unit 31 generates an automatic driving path that does not include the corner harvesting path, until the end position G. For example, as Figure 12 As shown, the operation control unit 31 generates an operation path R4 that does not include a corner harvesting path, but includes a straight operation path and a movement path (turning path).

[0201] As described above, the operation control unit 31 generates the operation path (auto-driving path) for the outermost peripheral area F0 and the inner peripheral area F1. Furthermore, the operation control unit 31 can generate the inner peripheral path Rb for the next cycle in the inner peripheral area F1 after each cycle of auto-driving and harvesting operation is completed, or it can generate the inner peripheral path Rb for all cycles of the inner peripheral area F1 at the moment when the harvesting operation in the outermost peripheral area F0 ends (before the start of auto-driving in the inner peripheral area F1).

[0202] As explained above, the travel system 10 involved in the second structure has the following structure: it generates a path for the combine harvester 1 to perform a prescribed operation (harvesting operation) on the work object (e.g., rice stalks) at the corner of the field F. Furthermore, the travel system 10 has the following structure: it generates a first work path based on the outermost perimeter position of an unworked area in the field F or the outer edge of the field F; and it generates a second work path, at least a portion of which has a prescribed inclination angle relative to the first work path, inside the first work path. Moreover, the first and second work paths are automatically generated travel paths in an inner region (inner perimeter region F1) inside the outermost perimeter region F0 of the field F. Additionally, the work in the inner region is performed after the work in the outermost perimeter region F0 is completed.

[0203] Specifically, the travel system 10 generates a first working path based on the shape of the field F as determined when working in the outermost peripheral region F0. Additionally, the travel system 10 determines the tilt angle of a second working path to prevent the combine harvester 1 from protruding outside the field as it moves from the first working path to the second working path.

[0204] Based on the above structure, for example, an optimal corner harvesting path can be generated at the corner of the field F to ensure the turning area required for the combine harvester 1 to turn. Furthermore, the combine harvester 1 can automatically travel along the corner harvesting path. For example, the operator can perform harvesting operations only in the outermost perimeter area F0 of the field F by manual driving, thereby generating an inner perimeter path Rb for automatic travel, including the corner path (corner harvesting path), for the inner perimeter area F1 inside the outermost perimeter area F0. Therefore, the operator's workload can be reduced, and the work efficiency of the combine harvester 1 can be improved.

[0205] [Control method for automatic travel of combine harvester 1 (third structure)]

[0206] A specific example of a control method (third structure) that enables the combine harvester 1 to automatically travel according to the automatic travel path (inner perimeter path Rb) generated in the inner perimeter region F1 in the second structure described above will be explained. The travel system 10 has the following structure: based on information indicating whether the work object location (work object position) of the harvesting operation is an unworked site where the harvesting operation has not been completed or a worked site where the harvesting operation has been completed, it determines whether to execute automatic travel corresponding to the inner perimeter path Rb.

[0207] Specifically, the registration and processing unit 113 of the vehicle control device 11 registers the work site information C1 (see reference) based on the travel trajectory of the combine harvester 1. Figure 19 The driving processing unit 111 determines whether to perform automatic driving for each work path based on the registered work site information C1.

[0208] For example, vehicle control device 11 divides the entire area of ​​field F into a grid pattern. Specifically, as... Figure 17A As shown, the vehicle control device 11 divides the field F into partitions K with a specified width (e.g., 10cm × 10cm) in the XY plane corresponding to the field F. Figure 17B This represents the identification information (location information) of each partition K.

[0209] The registration and processing unit 113 determines the operational status (operation completed or not) of each zone K based on the position of the combine harvester 1 while it is carrying out harvesting operations, and registers it in the work site information C1. For example, the registration and processing unit 113 detects the position passed by the harvesting unit 15 when the harvesting unit 15 is set to the working height H1, and determines the operational status of each zone K.

[0210] Figure 18 Here is an example of a method for determining the operational status. For instance, combine harvester 1 travels while harvesting within the working width W0. Registration and processing unit 113 calculates the operational rate for each zone K. The operational rate represents the proportion of the entire area of ​​a zone K that has been harvested. If the entire area of ​​zone K is within the working width W0, the operational rate is 100%; if half of zone K is within the working width W0, the operational rate is 50%; and if 30% of zone K is within the working width W0, the operational rate is 30%.

[0211] exist Figure 18 In the example shown, since only a portion (e.g., 30%) of section K is included in the working width W0 at the left end of the combine harvester 1, the registration processing unit 113 calculates the working rate of section K as 30%. Similarly, since only a portion (e.g., 50%) of section K is included in the working width W0 at the right end of the combine harvester 1, the registration processing unit 113 calculates the working rate of section K as 50%. Furthermore, since only a portion of each of the multiple sections K is included in the working width W0 at the front end of the combine harvester 1, the registration processing unit 113 calculates the working rate of section K as 50%. Figure 18 The operating rate of the zone K is calculated as shown. Thus, the registration and processing unit 113 calculates the proportion of the area overlapping with the passing position of the working width W0 (harvesting section 15) of the combine harvester 1 in each zone K as the aforementioned operating rate.

[0212] If the calculated work rate is above the threshold, the registration and processing unit 113 determines that the partition K is "work completed"; if the calculated work rate is below the threshold, the partition K is determined to be "no work". The registration and processing unit 113 records the determination result in the work location information C1.

[0213] Figure 19 An example representing the work location information C1. For example... Figure 19 As shown, in the work site information C1, for each zone K, location information, work rate, and work status are linked and registered. The aforementioned location information represents the location information (coordinate information) of zone K (see reference). Figure 17B The above-mentioned harvesting rate is the proportion of areas in the entire region of partition K that have undergone harvesting. The above-mentioned harvesting status indicates whether partition K has completed harvesting or not. For example, when the above-mentioned threshold is set to 90%, information indicating that harvesting is completed ("0") is recorded in partitions with a harvesting rate of 90% or higher, and information indicating that harvesting is not carried out ("1") is recorded in partitions with a harvesting rate of less than 90%.

[0214] During the operation of the combine harvester 1, the registration and processing unit 113 registers the operation status (operation completed or not operated) of each zone K in the operation site information C1 and updates the registered operation status.

[0215] In another implementation, the registration processing unit 113 may also determine the operation status (operation completed or not operated) of each zone K based on the images captured by the camera (not shown) installed on the combine harvester 1, and register them in the operation site information C1.

[0216] As another implementation, the above-mentioned processing for determining the working status of each zone K and the processing for registering the information to the work site C1 can also be applied to the rice transplanter. For example, in the rice transplanter, line stop control can be performed to stop any planting unit among multiple planting units based on the registration information of each zone K as having completed ("0") and not having completed ("1").

[0217] The travel processing unit 111 determines whether to enable the combine harvester 1 to perform automatic travel corresponding to the inner perimeter path Rb based on the work site information C1. In addition, the travel processing unit 111 determines whether to enable the combine harvester 1 to perform automatic travel for each work path based on the work site information C1.

[0218] Figures 20A-20C This represents an example of a corner harvesting path within the inner perimeter region F1. Additionally, in... Figures 20A-20CFor convenience, the unworked and worked areas of the work site information C1 are displayed identibly. For each work path, the travel processing unit 111 determines whether each zone K is unworked or worked based on the work status (work site information C1) of each zone K included in the work target area (harvesting predetermined area with work width W0) corresponding to that work path. For that work path, it then decides whether to enable the combine harvester 1 to perform automatic travel. Furthermore, at the moment when automatic travel on the work path begins, the travel processing unit 111 determines whether to automatically travel on that work path.

[0219] For example, such as Figure 20A As shown, since a portion of the work target area corresponding to the work path R1 is unworked land, the travel processing unit 111 determines the work path R1 as an automatic travel path (automatic travel target path). When the travel processing unit 111 determines the work path R1 as an automatic travel path, it causes the combine harvester 1 to start automatic travel in the work path R1.

[0220] In addition, the travel processing unit 111 causes the combine harvester 1 to automatically travel to the end of the unworked area included in the work target area corresponding to the work path, and stops the automatic travel at the end.

[0221] For example, in Figure 20A In the example shown, the area up to position e1 within the work target area corresponding to the work path R1 includes unworked land, while the area ahead of position e1 is entirely workable land. In this case, the travel processing unit 111 automatically travels the combine harvester 1 to position e1 and stops the automatic travel at position e1. Then, the travel processing unit 111 automatically travels the combine harvester 1 in the reverse direction at position e1. Furthermore, the travel processing unit 111 can either make the combine harvester 1 travel backward along the work path R1, or generate a reverse travel path different from the work path R1 and make the combine harvester 1 travel backward along that path. Alternatively, the travel processing unit 111 can, for example, generate a path that is offset by a predetermined distance (e.g., 10 cm) from the outer perimeter of the field F relative to the work path R1 (a path obtained by shifting the work path R1 10 cm outward) as the aforementioned reverse travel path. In addition, the driving processing unit 111 can also generate the above-mentioned reverse driving path based on the tilt angle of the next path (first tilt path R21) of the working path R1.

[0222] exist Figure 20BIn the example shown, since a portion of the work target area corresponding to the first inclined path R21 is unworked land, the travel processing unit 111 determines the first inclined path R21 as the path for automatic travel (automatic travel target path). When the travel processing unit 111 determines the first inclined path R21 as the path for automatic travel, it causes the combine harvester 1 to start automatic travel in the first inclined path R21.

[0223] Furthermore, the area up to position e2 within the work target area corresponding to the first inclined path R21 includes unworked areas, while the area in front of position e2 is entirely workable. Therefore, the travel processing unit 111 automatically travels the combine harvester 1 to position e2, stops the automatic travel at position e2, and automatically travels the combine harvester 1 in the reverse direction.

[0224] In contrast, Figure 20C In the example shown, since the entire work target area corresponding to the first inclined path R21 is already worked, the driving processing unit 111 determines the first inclined path R21 as a path that is not automatically driven (automatic driving non-target path). In this case, the driving processing unit 111 skips the first inclined path R21 and moves to the next path, the second inclined path R22.

[0225] also, Figure 20D and Figure 20E This represents a specific example of the inner perimeter path Rb, excluding the corner harvesting path. The combine harvester 1 performs harvesting operations while traveling straight along the inner perimeter path Rb, turning within the already harvested area and moving towards the next harvesting path. The combine harvester 1 repeats this circular movement until it reaches the final position G.

[0226] Here, in the above structure, the registration processing unit 113 registers the locations traversed by the combine harvester 1 (the locations passed by the harvesting unit 15) as completed work areas. Therefore, locations where the combine harvester 1 did not travel (the locations not passed by the harvesting unit 15) are registered as uncompleted work areas. In this case, for example, the following problem arises: even in areas where there is no work target (the straw of the harvesting target), areas not passed by the harvesting unit 15 are registered as uncompleted work areas and determined as paths for automatic travel. Therefore, the travel processing unit 111 can also be configured such that even when the work path is determined as a path for the combine harvester 1 to travel automatically, if a pre-defined operation based on the operator is received, such as setting an operation to not require an automatic travel path (no work path required), or skipping automatic travel, automatic travel is not performed on that work path. Alternatively, as another embodiment, the registration processing unit 113 can also be configured such that, upon receiving a pre-defined operation based on the operator, such as a change in work status, the uncompleted work area is registered (changed) to a completed work area in the work area information C1. As another implementation, the registration processing unit 113 may also obtain information indicating the location of the work target area (the area where rice straw is present) and the non-work target area (the area where rice straw is not present) within the field F, register the non-work target area as a work site, or exclude the non-work target area from the determination objects for determining whether to make the combine harvester 1 move automatically.

[0227] Furthermore, in the above structure, the registration processing unit 113 uses the partition K, which includes the working width W0 equivalent to the width of the harvesting unit 15, as the object for determining whether the work has been completed (see reference). Figure 18 As another implementation, the registration processing unit 113 may also include a range W1 narrower than the working width W0 (see reference). Figure 21 The partition K within the range is used as the criterion for determining whether the task is completed. Therefore, for example, ... Figure 21 As shown, the partitions K (columns Ka and Kb) located at the left and right ends of the working width W0 are excluded from the work assessment even if harvesting operations are actually performed, and are therefore registered as unworked areas. Therefore, partitions K in columns Ka and Kb become work target areas in other work paths, thus reliably performing harvesting operations. This prevents harvesting residue from forming between adjacent work paths.

[0228] As another embodiment of the third structure described above, the operation control unit 31 may also enable the operation terminal 3 to display the work site information C1 (see reference). Figure 19 The operational status included in (e.g., ...). Figure 22As shown in the driving screen D3, the operation control unit 31 fills in the worked area with a specified color on the map corresponding to the field F in zone K. Alternatively, as another embodiment, the operation control unit 31 can also display the position (zone K) where the operator has performed harvesting operations via manual steering and the position (zone K) where the combine harvester 1 has performed operations via automatic driving in different ways (different colors) on the driving screen D3. Furthermore, the operation control unit 31 can also display the aforementioned work target line Ls on the above map.

[0229] Additionally, the operation control unit 31 can also display the work rate for each zone K in the driving screen D3. Furthermore, the operation control unit 31 can also display the work rate of the selected zone K in the driving screen D3 when the operator has selected zone K.

[0230] Furthermore, the work site information C1 and the aforementioned diagram can also be applied to the generation process of the corner harvesting path in the second structure described above. For example, the generation processing unit 312 can also generate a work path and an inclined path with a predetermined inclination angle relative to the work path based on the locations (zones K) of the unworked and worked areas in the work site information C1. In addition, the generation processing unit 312 can also display the aforementioned diagram, receive an operation from the operator to adjust the inclination angle, and generate an inclined path.

[0231] Furthermore, the travel handling unit 111 can also tilt (to tilt the entire vehicle body) by raising the working side of the harvesting unit 15 (UFO control) to prevent the harvesting unit 15 (divider 28) from hooking the straw B1 discharged to the working area when the combine harvester 1 travels on each tilted path (see reference). Figure 4B ).

[0232] Additionally, the travel processing unit 111 can also set the speed of the combine harvester 1 to a low speed when entering an inclined path. For example, in Figure 10 In the corner harvesting path shown, the driving processing unit 111 can also set the vehicle speed to a low speed when changing the direction of the vehicle to perform corner harvesting operations, such as when entering the first inclined path R21 from intersection P1, or entering the second inclined path R22 from intersection P2. For example, when the driving processing unit 111 is reversing on the work path R1 up to the intersection P1, the vehicle speed setting on the main gear lever is set to 100%. When changing direction towards the first inclined path R21, when immediately reversing, or when entering the first inclined path R21, the vehicle speed setting is set to 70%. After entering the first inclined path R21, the vehicle speed setting is set to 100% (operational speed). This improves the feeling (ride comfort) during sudden direction changes and ensures safety.

[0233] Additionally, during corner harvesting operations, the operation processing unit 112 can, after stopping the combine harvester 1 at the end of the corner harvesting path (each inclined path) (e.g., the outermost position Fc), continuously drive the harvesting section 15 (harvesting and threshing) for a predetermined time, and after the predetermined time has elapsed, stop the drive of the harvesting section 15 and raise it. Then, the travel processing unit 111 starts the reverse travel of the combine harvester 1. This allows for reliable harvesting of stalks near the end of each corner harvesting path, and also allows for reliable threshing of the harvested stalks. Furthermore, to reliably harvest stalks from unworked areas, the travel processing unit 111 preferably travels the combine harvester 1 to a position where the cutter of the harvesting section 15 enters outside the unworked area (worked area) within each corner harvesting path.

[0234] [Automatic Driving Processing (Third Structure)]

[0235] The following is for reference Figure 23 An example of the automatic driving process performed by the driving system 10 is illustrated.

[0236] Furthermore, this invention can be understood as an invention of an automatic driving method that performs one or more steps included in an automatic driving process. Additionally, one or more steps included in the automatic driving process described herein may be appropriately omitted. Furthermore, the execution order of the steps in the automatic driving process may differ to produce the same effect. Here, the example of the vehicle control device 11 performing the steps in the automatic driving process is given, but an automatic driving method in which one or more processors separately execute the steps in the automatic driving process is also considered to be another embodiment.

[0237] <Step S21>

[0238] In step S21, the vehicle control device 11 determines whether an automatic driving start instruction has been obtained. For example, when the combine harvester 1 meets the automatic driving start conditions, and the operator performs the automatic driving start instruction operation on the operating terminal 3, the vehicle control device 11 obtains the automatic driving start instruction from the operating terminal 3. When the automatic driving start instruction is obtained (S21: "Yes"), the vehicle control device 11 moves the processing to step S22. The vehicle control device 11 waits until the automatic driving start instruction is obtained (S21: "No").

[0239] <Step S22>

[0240] In step S22, the vehicle control device 11 initiates automatic driving processing. Here, the vehicle control device 11 causes the combine harvester 1 to start from the starting position S of the inner peripheral region F1 (refer to...). Figure 4CThe combine harvester 1 then begins automatic driving. Specifically, the vehicle control device 11 causes the combine harvester 1 to begin automatic driving according to the inner circumferential path Rb generated in the above-described method for generating the inner circumferential path Rb (automatic driving path) (second structure). For example, the vehicle control device 11 begins automatic driving from the starting position S of the working path R1 of the first circle of the inner circumferential region F1.

[0241] <Step S23>

[0242] In step S23, the vehicle control device 11 determines whether the work path is an autonomous driving path (the path to be driven autonomously). For example, the vehicle control device 11 determines whether the work path R1 is an autonomous driving path at the beginning of the work path R1 (starting position S). Specifically, the vehicle control device 11 determines this based on the work location information C1 (refer to...). Figure 19 The operation status (operation completed, operation not completed) of each partition K in the operation path R1 is determined as the automatic driving object path if a part of the operation object area (e.g., the harvesting predetermined area with operation width W0) corresponding to the operation path R1 is not operated, and if the entire operation object area corresponding to the operation path R1 is operated, the operation path R1 is determined as the automatic driving non-object path.

[0243] When the work path is determined to be an autonomous driving target path (S23: "Yes"), the vehicle control device 11 moves the processing to step S24. On the other hand, when the work path is determined not to be an autonomous driving target path (S23: "No"), the vehicle control device 11 moves the processing to step S231.

[0244] <Step S24>

[0245] In step S24, the vehicle control device 11 initiates automatic movement of the combine harvester 1. Specifically, the vehicle control device 11 causes the combine harvester 1 to perform harvesting operations while automatically moving along the work path (harvesting operation). For example, the vehicle control device 11 causes the combine harvester 1 to perform harvesting operations while automatically moving along the work path R1 in a straight direction (see reference). Figure 20A ).

[0246] <Step S25>

[0247] In step S25, the vehicle control device 11 determines whether the combine harvester 1 has reached the end of the unworked area. Specifically, the vehicle control device 11 determines whether the combine harvester 1 has reached the end of the unworked area included in the work target area (the predetermined harvesting area with a work width W0) corresponding to the work path. Figure 20AIn the example shown, when the front end (harvesting section 15) of the combine harvester 1 has reached position e1, the vehicle control device 11 determines that the combine harvester 1 has reached the end of the unworked area. When it is determined that the combine harvester 1 has reached the end of the unworked area (S25: "Yes"), the vehicle control device 11 moves the process to step S26. The vehicle control device 11 causes the combine harvester 1 to continue automatically traveling along the work path R1 until it reaches the end of the unworked area (S25: "No"). Thus, if the combine harvester 1 reaches the end of the unworked area before reaching the end of the work path, the vehicle control device 11 moves the process to step S26. In addition, the vehicle control device 11 can also tilt the harvesting section 15 to raise the worked area side (UFO control) to prevent the harvesting section 15 (divider 28) from hooking the straw B1 discharged into the worked area when the combine harvester 1 is traveling on each tilted path (see reference). Figure 4B ).

[0248] <Step S26>

[0249] In step S26, the vehicle control device 11 determines whether the combine harvester 1 has reached the end position G (refer to...). Figure 4C When it is determined that the combine harvester 1 has reached the end position G (S26: "Yes"), that is, when the end position G is the terminal of the unworked area, the vehicle control device 11 ends the above-mentioned automatic driving process. When it is determined that the combine harvester 1 has not reached the end position G (S26: "No"), the vehicle control device 11 moves the process to step S27.

[0250] <Step S27>

[0251] In step S27, the vehicle control device 11 stops the combine harvester 1 from moving forward automatically and causes it to move backward automatically. Figure 20A In the example shown, the vehicle control device 11 causes the combine harvester 1, which is automatically traveling along the work path R1, to stop at position e1, which is the end of the unworked area, and stops the harvesting operation. Then, it causes the combine harvester 1 to automatically travel in the reverse direction along the work path R1 or other reverse travel path.

[0252] <Step S28>

[0253] In step S28, the vehicle control device 11 determines whether the combine harvester 1 has reached the next work path. When it is determined that the combine harvester 1 has reached the next work path (S28: "Yes"), the vehicle control device 11 moves the process to step S23. The vehicle control device 11 causes the combine harvester 1 to continue reversing until it reaches the next work path (S28: "No"). For example, in Figure 10In the example shown, when the combine harvester 1 has reached the intersection point P1 of the first inclined path R21 and the working path R1, the vehicle control device 11 moves the processing to step S23.

[0254] When moving to step S23, the vehicle control device 11 determines whether the next first inclined path R21 is an automatic driving target path. If it is an automatic driving target path (S23: "Yes"), automatic driving is started (S24).

[0255] <Step S231>

[0256] In step S231, the vehicle control device 11 moves the combine harvester 1 to the next work path. Specifically, when it is determined that the entire work target area corresponding to the work path is already worked, and the work path is not an automatic driving target path (it is an automatic driving non-target area) (S23: "No"), the vehicle control device 11 causes the combine harvester 1 to skip the work path and move to the next work path. Then, the vehicle control device 11 moves the processing to step S23, where it determines whether the next work path is an automatic driving target path. If it is an automatic driving target path (S23: "Yes"), automatic driving begins (S24).

[0257] In this way, the vehicle control device 11 repeatedly performs the above processing from the start position S to the end position G in the inner peripheral area F1, and determines whether to perform automatic driving for each operation path, so that the combine harvester 1 performs automatic driving and harvesting operations according to the inner peripheral path Rb.

[0258] As explained above, the travel system 10 involved in the third structure has the following structure: it enables the combine harvester 1 to automatically travel in the field F along a target path that includes multiple work paths for the combine harvester 1 to automatically travel while performing a prescribed operation (harvesting operation). Furthermore, the travel system 10 has the following structure: work site information C1 (refer to...) based on information including information on unworked areas in the field F that have not yet completed operations and information on completed areas that have already completed operations. Figure 19 For each work path, it determines whether to enable the combine harvester 1 to perform automatic driving.

[0259] Specifically, if the entire target area corresponding to the work path is already worked, the driving system 10 determines the work path as a path that prevents the combine harvester 1 from driving automatically (automatic driving non-target path). Conversely, if at least a portion of the target area corresponding to the work path is unworked, the driving system 10 determines the work path as a path that allows the combine harvester 1 to drive automatically (automatic driving target path).

[0260] Based on the above structure, for example, when starting the automatic travel of the work path, if it is determined that the entire work path is already worked on and does not require automatic travel, the automatic travel of that work path can be omitted. Therefore, unnecessary automatic travel of already worked areas can be prevented, thereby improving work efficiency.

[0261] The above structure describes the generation of the inner circumferential path Rb by the operating terminal 3. However, as another implementation, the inner circumferential path Rb could also be generated by the vehicle control device 11 of the combine harvester 1. Alternatively, the operating terminal 3 could generate the inner circumferential path Rb excluding the corner harvesting path, while the vehicle control device 11 generates the corner harvesting path. For example, the vehicle control device 11 could also modify the inner circumferential path Rb generated in the operating terminal 3 based on the work site information C1, and generate the corner harvesting path.

[0262] [Motion control of the harvesting machine (harvesting section 15) (fourth structure)]

[0263] A specific example of a control method (fourth structure) for controlling the operation of the harvester (harvesting unit 15) when the combine harvester 1 travels automatically according to the automatic travel path (inner circumferential path Rb) generated in the inner circumferential region F1 in the second structure described above will be explained. The travel system 10 has the following structure: it controls the position (posture) of the harvesting unit 15 based on the information indicating whether the work target location (work target position) of the harvesting operation is an unworked site where the harvesting operation has not been completed or a worked site where the harvesting operation has been completed.

[0264] Specifically, the operation processing unit 112 of the vehicle control device 11 is based on the operation location information C1 registered through the aforementioned third structure (refer to...). Figure 19 ), controls the movement (position) of the harvesting section 15.

[0265] For example, the operation processing unit 112 determines whether each zone K is an unoperated or operated zone based on the operation status (operation site information C1) of each zone K included in the operation target area (harvesting predetermined area with operation width W0) corresponding to the operation path, and sets the harvesting unit 15 to the operation height H1 (refer to) in the operation path. Figure 7C ) or non-working height H0 (refer to Figure 7A Specifically, in the work path, the work processing unit 112 sets the harvesting unit 15 to the working height H1 in unworked areas and sets the harvesting unit 15 to the non-working height H0 in worked areas.

[0266] For example, in Figure 20AIn the example shown, the area up to position e1 in the work target area corresponding to the work path R1 includes unworked land, and the area ahead of position e1 is entirely workable land. In this case, the work processing unit 112 lowers the harvesting unit 15 to the work height H1 at or near the beginning of the work path R1 (i.e., before reaching the beginning), maintains the harvesting unit 15 at the work height H1 until position e1, and raises the harvesting unit 15 to the non-work height H0 at or after position e1. Additionally, while the travel processing unit 111 is moving the combine harvester 1 backward along the work path R1, the work processing unit 112 maintains the harvesting unit 15 at the non-work height H0. As another embodiment, when the combine harvester 1 is moving backward, the work processing unit 112 may also set the harvesting unit 15 to an intermediate height H2 that prevents the straw B1 from being entangled (see reference). Figure 7B Additionally, the processing unit 112 can also stop the operation of the harvesting unit 15 when the harvesting unit 15 is set to the intermediate height H2.

[0267] exist Figure 20B In the example shown, the area up to position e2 within the work target area corresponding to the first inclined path R21 includes unworked land, while the area ahead of position e2 is entirely workable land. Therefore, before or at the beginning of the first inclined path R21, the work processing unit 112 lowers the harvesting unit 15 to the work height H1, maintains the harvesting unit 15 at the work height H1 until position e2, and raises it to the non-work height H0 at or after position e2. During the reverse movement of the combine harvester 1 along the first inclined path R21 by the travel processing unit 111, the work processing unit 112 maintains the harvesting unit 15 at the non-work height H0 or an intermediate height H2.

[0268] exist Figure 20C In the example shown, since the work target area corresponding to the first inclined path R21 is all already worked, the work processing unit 112 maintains the harvesting unit 15 at a non-work height H0 or an intermediate height H2.

[0269] As another implementation, the operation processing unit 112 may also lower the harvesting section 15 from the non-operational height H0 to the operational height H1 while the combine harvester 1 is traveling backward. For example, the operation processing unit 112 may begin lowering the harvesting section 15 while traveling backward, so that the harvesting section 15 reaches the operational height H1 at the moment when the combine harvester 1 reaches the end of the backward path or the beginning of the next operation path. This allows harvesting operations to begin immediately in the next operation path.

[0270] Additionally, as another implementation, when traveling on inclined paths (first inclined path R21, second inclined path R22), the work processing unit 112 can also tilt the work path side (UFO control) upwards relative to the horizontal height of the harvesting section 15. For example, when the combine harvester 1 is traveling on the first inclined path R21, the work processing unit 112 raises the right side of the harvesting section 15 (work path R1 side) to a height higher than the work height H1, so that the harvesting section 15 performs the harvesting operation in an inclined state. This allows the harvesting to proceed without catching the straw B1 discharged during the harvesting operation through work path R1 (see reference). Figure 4B Harvesting operations are performed on the first inclined path R21 under the condition that the combine harvester 1 passes through the straw B1. In addition, the operation processing unit 112 can also lower the right side of the harvesting unit 15 to the normal operating height H1 and return to the horizontal state after the combine harvester 1 has passed through the straw B1.

[0271] Here, within the work object area corresponding to a work path, the intermediate location between the beginning and end of the work path sometimes becomes a completed work location. For example, such as... Figure 24A As shown, section T1, starting from the beginning of the work path Rx, is an unworked area; section T2, which is continuous with section T1, is a worked area; and section T3, which is continuous with section T2, is an unworked area. In this case, the work processing unit 112 maintains the harvesting unit 15 at the work height H1 in section T1, sets the harvesting unit 15 to a non-work height H0 or an intermediate height H2 after entering the worked area (section T2), and sets the harvesting unit 15 to the work height H1 before entering the unworked area (section T3).

[0272] In another embodiment, the operation processing unit 112 may set the height of the harvesting section 15 according to the distance L of the already operated area (interval T2). For example, when the distance L is greater than or equal to a predetermined distance, the operation processing unit 112 sets the harvesting section 15 to a non-operational height H0 in interval T2. Conversely, when the distance L is less than the predetermined distance, the operation processing unit 112 sets the harvesting section 15 to an intermediate height H2 in interval T2. Furthermore, in another embodiment, when the distance L is less than the predetermined distance and there is no straw in the already operated area of ​​interval T2, the operation processing unit 112 may also set (maintain) the harvesting section 15 to an operating height H1 in interval T2.

[0273] Alternatively, for example, the operation processing unit 112 may stop the drive of the harvesting unit 15 in the interval T2 when the distance L is above the specified distance, and maintain the drive of the harvesting unit 15 in the interval T2 when the distance L is less than the specified distance.

[0274] As another implementation, the registration processing unit 113 may also register "no work" in the work status of the partition K included in the interval T2 when the distance L is less than a predetermined distance (see reference). Figure 19 For example, if the distance L between the partition K of the completed area ("Completed: 0") located between the uncompleted area ("Uncompleted: 1") and the completed area ("Completed: 0") is less than a specified distance in the work site information C1, the registration processing unit 113 changes "Completed: 0" to "Uncompleted". As a result, the work processing unit 112 can set (maintain) the harvesting unit 15 at the working height H1 in the partition K of the interval T2 by referring to the work site information C1.

[0275] Additionally, within the work object area corresponding to a work path, the intermediate locations between the beginning and end of the work path sometimes become unworked areas. For example, such as... Figure 24B As shown, section T4, starting from the beginning of the work path Ry, is a work area; section T5, which is continuous with section T4, is an unworked area; and section T6, which is continuous with section T5, is a work area. In this case, the work processing unit 112 maintains the harvesting unit 15 at a non-work height H0 or an intermediate height H2 in section T4. Before entering the unworked area (section T5), the harvesting unit 15 is set to a work height H1. After passing the end of the unworked area (section T5) (after entering the work area (section T6)), the harvesting unit 15 is set to a non-work height H0 or an intermediate height H2.

[0276] In the above embodiments, a combine harvester 1 is used as an example. However, when the working vehicle is a tractor and the working machine is a tiller, the non-working height H0 is the height of the tiller at its highest position, and the intermediate height H2 is the height at which the rotating body and the cover do not contact the ground after tilling. The above-mentioned fourth structure is not limited to the combine harvester 1, but can also be applied to various working vehicles such as tractors.

[0277] Here, the work processing unit 112 can also determine the timing of the work machine's descent (descent instruction timing) based on the work machine's moving speed (descent speed) and the work vehicle's travel speed. For example, if the work machine's descent speed is preset, the work processing unit 112 calculates the time required to move from the current height to the work height (lowest position) based on the work machine's current height position information and the aforementioned descent speed (descent time required), and calculates the distance the work vehicle travels during the descent time based on the calculated descent time and the work vehicle's current travel speed. Then, the work processing unit 112 outputs the work machine's descent instruction at a position closer to the aforementioned distance than the work start position. That is, the work processing unit 112 determines the timing of the work machine's action based on the work vehicle's travel speed and the time required for the work machine to move from its current position (e.g., a non-work position) to the work position.

[0278] [Motion control processing of the harvesting machine (harvesting section 15) (fourth structure)]

[0279] The following is for reference Figure 25 An example of motion control processing of the harvesting unit 15 executed by the driving system 10 will be described.

[0280] Furthermore, this invention can be understood as an invention of a motion control method that executes one or more steps included in a motion control process. Additionally, one or more steps included in the motion control process described herein may be appropriately omitted. Furthermore, the execution order of the steps in the above-described motion control process may differ to produce the same effect. Here, the example of the vehicle control device 11 executing the steps in the above-described motion control process is given, but a motion control method in which one or more processors execute the steps in the motion control process separately is also considered to be another embodiment.

[0281] The above-described motion control processing can be applied to the automatic driving processing corresponding to the second structure described above (see reference). Figure 23 The driving system 10 can execute the following motion control processing together with the above-described automatic driving processing. Hereinafter, the motion control processing of the harvesting unit 15 will be explained.

[0282] <Step S31>

[0283] In step S31, the vehicle control device 11 determines whether an automatic driving start instruction has been obtained. For example, when the combine harvester 1 meets the automatic driving start conditions, and the operator performs the automatic driving start instruction operation on the operating terminal 3, the vehicle control device 11 obtains the automatic driving start instruction from the operating terminal 3. When the automatic driving start instruction is obtained (S31: "Yes"), the vehicle control device 11 moves the processing to step S32. The vehicle control device 11 waits until the automatic driving start instruction is obtained (S31: "No").

[0284] <Step S32>

[0285] In step S32, the vehicle control device 11 initiates automatic driving processing. Here, the vehicle control device 11 causes the combine harvester 1 to start from the starting position S of the inner peripheral region F1 (refer to...). Figure 4C The combine harvester 1 then begins automatic driving. Specifically, the vehicle control device 11 causes the combine harvester 1 to begin automatic driving according to the inner circumferential path Rb generated in the above-described method for generating the inner circumferential path Rb (automatic driving path) (second structure). For example, the vehicle control device 11 begins automatic driving from the starting position S of the working path R1 of the first circle of the inner circumferential region F1.

[0286] <Step S33>

[0287] In step S33, the vehicle control device 11 determines whether the work path is a path for harvesting operations (the path of the harvested object). For example, the vehicle control device 11 determines whether the work path R1 is a path of the harvested object at the beginning of the work path R1 (starting position S). Specifically, the vehicle control device 11 determines this based on the information C1 registered at the work site (refer to...). Figure 19 The operation status (operation completed, operation not performed) of each partition K in the operation path R1 is determined as the operation path if a part of the operation object area (e.g., the harvesting predetermined area with operation width W0) corresponding to the operation path R1 is not operated. If the operation object area corresponding to the operation path R1 is entirely operated, the operation path R1 is determined as the non-operation object path.

[0288] When the work path is determined to be the work object path (S33: "Yes"), the vehicle control device 11 moves the processing to step S34. On the other hand, when the work path is determined not to be the work object path (S33: "No"), the vehicle control device 11 moves the processing to step S331.

[0289] <Step S34>

[0290] In step S34, the vehicle control device 11 sets the harvesting section 15 to the working height H1 (refer to...). Figure 7C Additionally, the vehicle control device 11 enables the combine harvester 1 to automatically travel along the work path while performing harvesting operations. For example, the vehicle control device 11 enables the combine harvester 1 to automatically travel along the work path R1 in a straight direction while performing harvesting operations (see reference). Figure 20A ).

[0291] <Step S35>

[0292] In step S35, the vehicle control device 11 determines whether the combine harvester 1 has reached the end of the unworked area. Specifically, the vehicle control device 11 determines whether the combine harvester 1 has reached the end of the unworked area included in the work target area (the predetermined harvesting area with a work width W0) corresponding to the work path. Figure 20AIn the example shown, when the front end (harvesting section 15) of the combine harvester 1 has reached position e1, the vehicle control device 11 determines that the combine harvester 1 has reached the end of the unworked area. When it is determined that the combine harvester 1 has reached the end of the unworked area (S35: "Yes"), the vehicle control device 11 moves the process to step S36. The vehicle control device 11 maintains the harvesting section 15 at the working height H1 and continues the automatic driving and harvesting operation according to the working path R1 until the combine harvester 1 reaches the end of the unworked area (S35: "No"). If the combine harvester 1 reaches the end of the unworked area before reaching the end of the working path, the vehicle control device 11 moves the process to step S36.

[0293] <Step S36>

[0294] In step S36, the vehicle control device 11 determines whether the combine harvester 1 has reached the end position G (refer to...). Figure 4C When it is determined that the combine harvester 1 has reached the end position G (S36: "Yes"), the vehicle control device 11 ends the above-mentioned action control process. When it is determined that the combine harvester 1 has not reached the end position G (S36: "No"), the vehicle control device 11 moves the process to step S37.

[0295] <Step S37>

[0296] In step S37, the vehicle control device 11 sets the harvesting section 15 to a non-operating height H0. Figure 20A In the example shown, the vehicle control device 11 stops the combine harvester 1 from automatic forward movement, raises the harvesting section 15 to a non-working height H0, and then automatically moves it in the reverse direction. Specifically, the vehicle control device 11 stops the combine harvester 1, which is automatically moving along the working path R1, at position e1, which is the end of the unworked area, or at a position that has passed position e1, and raises the harvesting section 15 to a non-working height H0. Then, it automatically moves it in the reverse direction along the working path R1 or another reverse path. Furthermore, the vehicle control device 11 can also set the harvesting section 15 to an intermediate height H2 (see reference) when moving the combine harvester 1 in reverse. Figure 7B Additionally, the vehicle control device 11 can also be used when the combine harvester 1 reaches the end of its reverse travel (e.g., intersection P1 (see reference)). Figure 10 Before that, the harvesting section 15 begins to descend.

[0297] <Step S38>

[0298] In step S38, the vehicle control device 11 determines whether the combine harvester 1 has reached the vicinity of the beginning of the next work path. Specifically, the vehicle control device 11 calculates the starting point of the descent of the harvesting section 15 based on the travel speed of the combine harvester 1 and the time required for the harvesting section 15 to descend, and determines whether the position where the descent starting point has arrived has been reached. When it is determined that the combine harvester 1 has reached the vicinity of the beginning of the next work path (S38: "Yes"), the vehicle control device 11 moves the process to step S33. The vehicle control device 11 maintains the harvesting section 15 at the non-working height H0 and continues to reverse until the combine harvester 1 reaches the vicinity of the beginning of the next work path (S38: "No").

[0299] When the process moves to step S33, the vehicle control device 11 determines whether the next first inclined path R21 is a target path for the harvester. If it is a target path (S33: "Yes"), the harvesting unit 15 is set to the working height H1 and automatic driving begins (S34). That is, the vehicle control device 11 starts the descent of the harvesting unit 15 when the combine harvester 1 has reached the beginning of the next working path, so that the harvesting unit 15 is at the working height H1 at the beginning of the next working path.

[0300] <Step S331>

[0301] In step S331, the vehicle control device 11 moves the combine harvester 1 to the next work path. Specifically, when it is determined that the entire work target area corresponding to the work path is already worked, and the work path is not a work target path (it is a non-work target path) (S33: "No"), the vehicle control device 11 causes the combine harvester 1 to skip the work path and move to the next work path. Then, the vehicle control device 11 moves the processing to step S33, where it determines whether the next work path is a work target path. If it is a work target path (S33: "Yes"), the harvesting unit 15 is set to the working height H1 and automatic driving is started (S34).

[0302] In this way, the vehicle control device 11 repeatedly performs the above-mentioned process in the inner peripheral region F1 to control the position of the harvesting unit 15 during the period when the combine harvester 1 travels from the starting position S to the ending position G.

[0303] As explained above, the travel system 10 involved in the fourth structure has the following structure: it enables the combine harvester 1 to automatically travel along a target path in the field F while performing prescribed operations using the harvesting unit 15. Furthermore, the travel system 10 has the following structure: it includes work area information C1 (refer to...) based on information including unworked areas in the field F and completed work areas. Figure 19 ), controls the movement of the harvesting section 15.

[0304] Specifically, before the combine harvester 1 moves from a work area to a non-work area, the travel system 10 sets the harvesting section 15 to the working position (working height H1), and after the combine harvester 1 moves from a non-work area to a work area, it sets the harvesting section 15 to the non-working position (non-working height H0).

[0305] Based on the above structure, for example, when the combine harvester 1 begins automatic travel along the work path, if it is determined that the entire work path is already worked and no work is needed, the work along that work path can be omitted. Furthermore, if the work path includes both worked and unworked areas, by setting the harvesting unit 15 to a working height H1 in unworked areas and setting it to a non-working height H0 in worked areas, unnecessary movement (posture changes) of the harvesting unit 15 can be prevented. Therefore, unnecessary automatic travel and work in worked areas can be prevented, thereby improving work efficiency. Additionally, by setting the harvesting unit 15 to a working height H1 before the combine harvester 1 enters an unworked area from a worked area, and setting it to a non-working height H0 after the combine harvester 1 enters a worked area from an unworked area, work omissions (harvesting residue) in unworked areas can be prevented.

[0306] [Other Implementation Methods]

[0307] This invention is not limited to the embodiments described above. Other embodiments of this invention are described below. (1)

[0309] For example, such as Figure 26 As shown, sometimes an entrance / exit is located at the corner of field F. In this case, when combine harvester 1 automatically travels along the working path R1 and performs harvesting operations, it stops automatically near the entrance / exit, creating harvest residue (harvest residue area E1) in the area after the entrance / exit in the target area. Therefore, for example, as... Figure 27 As shown, the generation processing unit 312 can also shift the first inclined path R21, which is the next corner harvesting path of the operation path R1, from its original position (the spacing of the operation width W0) toward the operation path R1. Specifically, the generation processing unit 312 generates the first inclined path R21 in such a way that the harvesting residue area E1 is included in the operation target area.

[0310] Thus, the generation processing unit 312 can also have the following structure: regarding the corner harvesting path, if a harvesting residue area E1 is generated during the harvesting operation through the first working path, a second working path is generated in such a way that the harvesting residue area E1 is included in the working object area of ​​the second working path of the next path of the first working path. This prevents the occurrence of harvesting residue.

[0311] In the above structure, the generation processing unit 312 can be based on the work location information C1 (refer to...) Figure 19 The second operation path can be generated or shifted based on the target line Ls (recommended harvesting line), or based on information about unoperated or operated areas determined from images captured by the combine harvester 1's camera.

[0312] Furthermore, the above structure is not limited to structures that harvest corners at an angle (see reference). Figure 10 It can also be applied to parallel harvesting structures (see reference). Figure 15 ). (2)

[0314] The generation processing unit 312 can also set multiple work target lines Ls. For example, such as Figure 28 As shown, the generation and processing unit 312 sets the outermost target line Ls1 of the field F, the innermost target line Ls2 of the field F, and the innermost target line Ls3 of the field F. The target line Ls1 represents the target position (marker) when the operator manually moves around the outermost perimeter of the field F to perform the harvesting operation, which is equivalent to the target line Ls (refer to...). Figure 14 For example, such as Figure 29 As shown, the target line Ls1 is set at a position where an automated driving path that can turn at a corner of the second loop of the work path can be generated, and includes a corner harvesting path from the second loop onwards. For example, if the operator performs the harvesting operation manually with the target line Ls1 included, the generation processing unit 312 allows the generation of automated driving paths after the second loop. Here, in order to enable automated driving after the second loop, it is preferable to set the target line Ls1 at a position narrower than the work width (1 stroke) from the boundary of the field F. That is, Figure 29 The width w0 shown is preferably smaller than the working width. In addition, if the width w0 of the working target line Ls1 is too small, the area required for turning at the corner of the second loop cannot be guaranteed, so it is set to a width that allows turning.

[0315] Furthermore, the target line Ls2 represents the target position (marker) when the operator manually drives two circles around the outermost perimeter of the field F to perform harvesting operations, and is set at a position offset inward from the target line Ls1 by the working width (one stroke). For example, if the operator performs harvesting operations by manually driving in a position including the target line Ls2, the generation processing unit 312 allows the generation of automatic driving paths from the third circle onwards.

[0316] Furthermore, the target line Ls3 represents the target position (marker) when the operator manually drives around the outermost three circles of the field F to perform harvesting operations, and is set at a position offset inward by the working width (one stroke) from the target line Ls2. For example, if the operator performs harvesting operations by manually driving around the field at a position including the target line Ls3, the generation processing unit 312 allows the generation of automatic driving paths after the fourth circle.

[0317] The target lines Ls1 to Ls3 are displayed on the operating terminal 3. Alternatively, the generation processing unit 312 may display a predetermined target line Ls from Ls1 to Ls3 based on the operator's input. For example, if the operator sets the system to manually drive the first revolution (outermost circumference) and automatically drive from the second revolution onwards, the generation processing unit 312 will only display target line Ls1 from Ls1 to Ls3. Similarly, if the operator sets the system to manually drive the first and second revolutions and automatically drive from the third revolution onwards, the generation processing unit 312 will only display target line Ls2 from Ls1 to Ls3. Furthermore, if the operator sets the system to manually drive the first to third revolutions and automatically drive from the fourth revolution onwards, the generation processing unit 312 will only display target line Ls3 from Ls1 to Ls3. (3)

[0319] The generation processing unit 312 can also set the terminal Pe of the work path R1 based on the work position of the outermost peripheral region F0 when generating the work path R1. For example, Figure 30 As shown, the generation processing unit 312 sets the inner boundary of the harvesting operation trajectory in the outermost peripheral area F0 (the line surrounding the remaining unharvested area (the harvested line Le)). On the harvested line Le, it sets the terminal Pe1 for the operation path R1. In this way, the generation processing unit 312 does not consider the operation trajectory at the corner (the boundary between the harvested and unharvested areas), but extends the operation path R1 to the harvested line Le and sets the terminal Pe1. Similarly, the generation processing unit 312 sets the terminals Pe2 and Pe3 of the first inclined path R21 and the second inclined path R22, respectively, on the harvested line Le.

[0320] Furthermore, the generation processing unit 312 can also determine the left-right position of the operation path R1 when generating the operation path R1, so that the width of the combine harvester 1 in the left-right direction partially overlaps with the harvested area (the outer perimeter of the second stroke overlaps with the inner perimeter of the outermost stroke). This prevents gaps (unworked areas) from forming between adjacent strokes. (4)

[0322] The vehicle control device 11 can also operate at corners as follows. For example, as shown in FIG31, the vehicle control device 11 sets a baseline Lx parallel to the work path R1 at a predetermined distance w2 (e.g., 10 cm) from the outer perimeter of the field F, and sets the intersection point Px of the extension of the first inclined path R21 and the baseline Lx. After the combine harvester 1 travels along the work path R1, the vehicle control device 11 reverses towards the intersection point Px. Then, at the intersection point Px, the vehicle control device 11 reverses and turns the combine harvester 1 along the extension of the first inclined path R21, and then switches to forward travel and travels straight along the first inclined path R21. Furthermore, the distance reversed from the intersection point Px can also be changed. In addition, the intersection point Px can also be set at a position, for example, 12 m from the end of the work path R1.

[0323] As another implementation, when the combine harvester 1 is turning backward from intersection Px, if the rear end of the machine body protrudes beyond the field F, such as... Figure 31B As shown, the vehicle control device 11 can also cause the combine harvester 1 to reverse and travel straight along the baseline Lx at the intersection Px, and then switch to forward travel, turning forward and traveling straight along the first inclined path R21. The distance traveled backward from the intersection Px can also be changed.

[0324] The second inclined path R22 is the same, as... Figure 31CAs shown, the vehicle control device 11 sets a baseline Ly parallel to the first inclined path R21 at a predetermined distance from the outer perimeter of the field F, and sets a point Py where the extension of the second inclined path R22 intersects the baseline Ly. After the combine harvester 1 travels straight along the first inclined path R21, the vehicle control device 11 reverses towards the intersection point Py. Then, at the intersection point Py, the vehicle control device 11 reverses and turns the combine harvester 1 along the extension of the second inclined path R22, and then switches to forward travel and travels straight along the second inclined path R22. Alternatively, if the rear end of the combine harvester 1 protrudes beyond the field F, the vehicle control device 11 can also reverse the combine harvester 1 along the baseline Ly at the intersection point Py, and then switch to forward travel, turn forward, and travel straight along the second inclined path R22.

[0325] In addition, the vehicle control device 11 can also set the vehicle speed to low speed when switching the combine harvester 1 from reverse driving to forward driving, and then start the descent of the harvesting section 15. The time required for the harvesting section 15 to descend to the working height H1 at low speed is then used to restore the original vehicle speed (set vehicle speed) after that time has elapsed.

[0326] Furthermore, when the combine harvester 1 moves from the working path (e.g., working path R1) to a non-working path (reverse path), the vehicle control device 11 can switch to reverse travel when the front end of the harvesting section 15 has reached the end of the working path R1. Conversely, when the combine harvester 1 moves from a non-working path to the working path, the vehicle control device 11 can switch to forward travel when the center position of the combine harvester 1 (the center position of the track) has reached the end of the non-working path. That is, when the combine harvester 1 moves from the working path to a non-working path, the vehicle control device 11 controls the current position of the vehicle by using the front end position of the combine harvester 1 (the position of the harvesting section 15) as the current position (path switching control, speed control, etc.), and when the combine harvester 1 moves from a non-working path to the working path, it controls the current position of the vehicle by using the center position of the combine harvester 1 (the center position of the track). (5)

[0328] The vehicle control device 11 can also cause the combine harvester 1 to move along the path R3 at the corner as follows (see below). Figure 11 ) driving. For example, vehicle control device 11 causes combine harvester 1 to perform corner harvesting operations so that it can ensure that when combine harvester 1 moves from working path R1 to the next working path R2 in the second revolution, it can turn by only moving forward without switching between forward and reverse (refer to the width Wa). Figure 32AAdditionally, if the vehicle control device 11 cannot ensure the aforementioned width Wa, it may also include reverse driving and turning driving. The aforementioned width Wa is the width at which the combine harvester 1 can face directly relative to the working path R2, and the front end of the harvesting section 15 has not entered the unworked area. Furthermore, the aforementioned width Wa can also be the width at which the combine harvester 1 can face directly relative to the working path R2 when the cutter of the harvesting section 15 has entered the unworked area.

[0329] exist Figure 32B The diagram illustrates an example where combine harvester 1 performs corner harvesting on the third loop, travels along movement path R3, and moves towards the next work path R2. Vehicle control unit 11 directs combine harvester 1 to travel along the outermost perimeter of the unworked area, position Fc (the shaded shape in the diagram above), and performs corner harvesting. In the third loop, it is not possible to guarantee that combine harvester 1 can turn by only forward travel without switching between forward and reverse directions while moving from work path R1 to the next work path R2 (refer to...). Figure 32B That is, when the combine harvester 1 is directly aligned with the working path R2, and the harvesting section 15 (cutter) enters the unworked area, if... Figure 32C As shown, the vehicle control device 11 can also shift the starting position of the turn towards the outer periphery of the field F. (6)

[0331] When the operator manually drives the machine three revolutions according to the target line Ls3 and performs the harvesting operation, and then automatically drives the combine harvester 1 from the fourth revolution onwards, if... Figure 33A As shown, the vehicle control device 11 enables the combine harvester 1 to travel along a movement path R3, which includes switching between forward and reverse, at the corner of an unworked area. Furthermore, the vehicle control device 11 is capable of performing... Figure 33A In the case of turning as shown, the turning is performed on the fourth lap without corner harvesting.

[0332] In addition, for example, Figure 33B As shown, when the corner of the fourth working path has been harvested after the first to third circles of driving and corner harvesting, the vehicle control device 11 can shift the turning area inward by including a forward turning path in the moving path R3. Therefore, it can prevent the combine harvester 1 from approaching the boundary of the field F or protruding outside the field F when traveling on the moving path R3. (7)

[0334] The vehicle control device 11 can also enable the combine harvester 1 to automatically navigate around areas where it cannot drive automatically, such as entrances and exits of the field F. For example, Figure 26As shown, when there is an entrance / exit at the corner of field F, the vehicle control device 11 enables the combine harvester 1 to perform automatic driving and corner harvesting operations by avoiding the entrance / exit. Additionally, for example, if there is a non-automatic driving area on the circular work path, and the circular work path intersects with the non-automatic driving area, the vehicle control device 11 can also stop automatic driving when the combine harvester 1 reaches the non-automatic driving area, allowing the operator to manually avoid the non-automatic driving area and continue driving. (8)

[0336] like Figure 34 As shown, if a portion of the work path R1 overlaps with a harvested area, the vehicle control device 11 can also exclude the overlapping portion from the work path and change it to a non-negotiable work path R10. In this case, the vehicle control device 11 determines that the non-negotiable work path R10 is unnecessary to travel on. When it reaches the midpoint Pm of the work path R1 (the end position of the unworked area on the work path R1), it causes the harvesting unit 15 to rise and stop the harvesting operation, and then moves towards the next work path instead of traveling on the non-negotiable work path R10. (9)

[0338] The vehicle control device 11 may also have a search function for starting automatic driving. For example, the vehicle control device 11 sets a predetermined search range in front of the combine harvester 1 and searches for multiple (e.g., up to three) paths (candidate paths) that are included within the search range and close to the current position of the combine harvester 1. Then, the vehicle control device 11 determines the candidate path that is closest to the current orientation and position of the combine harvester 1 among the multiple candidate paths as the automatic driving start path. Here, the vehicle control device 11 may also set the above search function to OFF in corner harvesting paths. For example, when the combine harvester 1 is automatically driving in a corner harvesting path on the second loop, the vehicle control device 11 switches the above search function to OFF to prevent an inclined path from being determined as the automatic driving start path. In this case, the vehicle control device 11 determines the working path R1 on the outer perimeter of the field F as the automatic driving start path. In addition, when the vehicle stops after traveling on the work path R1, the vehicle control device 11 determines the first inclined path R21 on the outer periphery of the field F in the first inclined path R21 and the second inclined path R22 as the automatic driving start path.

[0339] Furthermore, when the vehicle control device 11 determines the start path for automatic driving, it sets a starting position at the beginning of the automatic driving start path. In addition, if the combine harvester 1 is interrupted while driving on a corner harvesting path, the vehicle control device 11 can also set a starting position at the beginning of the interrupted path. (10)

[0341] When the combine harvester 1 discharges the grain stored in the storage bin 24 into the conveyor at the designated discharge position within the field F during operation, the vehicle control device 11 can also control the process to prevent the harvester from needing to perform a discharge operation during corner harvesting operations. For example, when the combine harvester 1 is traveling in a circle, before traveling along a corner harvesting path, the vehicle control device 11 determines whether the total harvest amount (including the harvest amount of the outer perimeter path and the harvest amount of each corner harvesting path) can be stored in the storage bin 24 (whether there is any space). If the vehicle control device 11 determines that the total harvest amount can be stored, it travels along the outer perimeter path. On the other hand, if the vehicle control device 11 determines that the total harvest amount cannot be stored, it generates a discharge path toward the discharge position at that moment, causing the combine harvester 1 to move along the discharge path and perform the discharge operation. Thus, it is possible to prevent the need for a discharge operation during corner harvesting operations. (11)

[0343] The vehicle control device 11 can also process the polygonal shape (outer shape of the unworked area) divided by the work trajectory based on the corner harvesting operation, removing the inner edges of the work trajectory (point group). For example, as Figure 35 As shown, in a polygonal shape including the actual work trajectories K1, K2, and K3, if the point group of work trajectory K2 is positioned by biting into the inside of the polygonal shape, the vehicle control device 11 can also remove work trajectory K2 and replace it with work trajectory K0 connected to work trajectories K1 and K3. (12)

[0345] The generation processing unit 312 can also generate the turning path after a corner harvesting operation, as shown below. Figure 36A An example of a corner harvesting path is shown. For example, the corner harvesting path includes a working path R1, a first inclined path Rm, and a second inclined path Rn. When the combine harvester 1 finishes the corner harvesting operation on the corner harvesting path, it travels on the moving path R3 toward the next working path R2. The generation processing unit 312 generates the moving path R3, which includes the turning path.

[0346] Specifically, the generation processing unit 312 according to Figure 37 The steps shown generate a turning path. In step S41, the generation processing unit 312 determines whether the corner harvesting path includes a path shorter than a predetermined length (short side path). If the corner harvesting path includes a short side path (S41: "Yes"), the generation processing unit 312 moves the processing to step S42. If the corner harvesting path does not include a short side path (S41: "No"), the generation processing unit 312 moves the processing to step S56. Figure 36AIn the example shown, there is a first inclined path Rm and a second inclined path Rn between the work path R1 and the work path R2, which serve as the short side path.

[0347] In step S42, the generation processing unit 312 skips (removes) the short side path. In step S43, it determines whether the short side path is still included. If, in step S43, the short side path is still included in the corner harvesting path (S43: "Yes"), the generation processing unit 312 moves the processing back to step S42 and skips the short side path. The generation processing unit 312 repeats the above process and skips short side paths until no short side path is included.

[0348] When the short side path is not included, the generation processing unit 312 attempts to connect the working path R1 and the working path R2 into a turning pattern. Specifically, the generation processing unit 312 attempts multiple turning patterns in sequence, determines the turning pattern in which the combine harvester 1 can move towards the working path R2, that is, the combine harvester 1 can face the working path R2 after turning, and generates the turning path.

[0349] First, in step S44, the generation processing unit 312 attempts a first turning mode (planar turning) that only travels along the shortest path with a narrow turning range. For example... Figure 36A As shown, if the combine harvester 1 can move to the next work path R2 after passing through the first turning path R30 (which is a forward-only turning mode) (S45: "Yes"), the generation processing unit 312 determines the turning path R30 of the first turning mode (forward-only turning). On the other hand, if the combine harvester 1 cannot move to the next work path R2 after passing through the first turning path R30 (S45: "No"), that is, if the combine harvester 1 cannot be directly aligned with the work path R2 after turning, the generation processing unit 312 moves the processing to step S46.

[0350] In step S46, the generation processing unit 312 attempts a third turning mode (obtuse-angle harvesting path) that involves only forward travel. For example, as Figure 36BAs shown, the generation processing unit 312 generates a third turning pattern (obtuse-angled corner harvesting path) that includes a forward straight path traveling on the extension of the working path R1, a forward turning path connected to the forward straight path, and a forward straight path connected to the forward turning path and forming an obtuse angle (e.g., 10 degrees) with the working path R2. If the combine harvester 1 can move to the next working path R2 after passing through the turning path R32 of the third turning pattern (S47: "Yes"), the generation processing unit 312 determines the turning path R32 of the third turning pattern (forward travel only). On the other hand, if the combine harvester 1 cannot move to the next working path R2 after passing through the turning path R32 of the third turning pattern (S47: "No"), that is, if the combine harvester 1 cannot be directly aligned with the working path R2 after turning, the generation processing unit 312 moves the processing to step S48.

[0351] In step S48, the generation processing unit 312 attempts to include a third turning pattern (obtuse-angle harvesting path) that involves reverse driving. For example, as... Figure 36C As shown, the generation processing unit 312 generates a third turning pattern (obtuse-angled corner harvesting path) that includes a forward straight path traveling on the extension of the working path R1, a forward turning path connected to the forward straight path, a reverse straight path connected to the forward turning path, and a forward straight path connected to the reverse straight path and forming an obtuse angle (e.g., 10 degrees) with the working path R2. If the combine harvester 1 can move to the next working path R2 after passing through the turning path R33 of the third turning pattern (S49: "Yes"), the generation processing unit 312 determines the turning path R33 of the third turning pattern (including reverse travel). On the other hand, if the combine harvester 1 cannot move to the next working path R2 after passing through the turning path R33 of the third turning pattern (S49: "No"), that is, if the combine harvester 1 cannot be directly aligned with the working path R2 after turning, the generation processing unit 312 moves the processing to step S50.

[0352] In step S50, the generation processing unit 312 attempts to include a first turning mode (planar turning) that includes reverse driving. For example, as Figure 36DAs shown, the generation processing unit 312 generates a turning path R31 that includes a forward straight path, a forward left-turn path, a reverse straight path, and a first turning pattern of a forward straight path, after traveling on the extension of the work path R1 following a corner harvesting path. If the combine harvester 1 can move to the next work path R2 after passing through the first turning pattern turning path R31 (S51: "Yes"), the generation processing unit 312 determines the first turning pattern (including reverse travel) turning path R31. On the other hand, if the combine harvester 1 cannot move to the next work path R2 after passing through the first turning pattern turning path R31 (S51: "No"), that is, if the combine harvester 1 cannot be directly aligned with the work path R2 after turning, the generation processing unit 312 moves the processing to step S52. Furthermore, the order in which the first turning pattern (forward only), the first turning pattern (with reverse travel), the obtuse-angle corner harvesting path (forward only), and the obtuse-angle corner harvesting path (with reverse travel) are attempted can be arbitrary.

[0353] In step S52, the generation processing unit 312 attempts a second turning mode (α-turn) with a turning range wider than the first turning mode. For example, as Figure 36E As shown, the generation processing unit 312 generates a turning path R34 comprising a forward straight path, a forward left-turn path, a backward right-turn path, a backward straight path, and a forward straight path, which are all part of a second turning pattern after traveling on the extension of the work path R1 following the corner harvesting path. If the combine harvester 1 can move to the next work path R2 after passing through the second turning pattern turning path R34 (S53: "Yes"), the generation processing unit 312 determines the second turning pattern turning path R34. On the other hand, if the combine harvester 1 cannot move to the next work path R2 after passing through the second turning pattern turning path R34 (S53: "No"), that is, if the combine harvester 1 cannot be directly aligned with the work path R2 after the turn, the generation processing unit 312 moves the processing to step S54.

[0354] In step S54, the generation processing unit 312 determines whether there is a short side path remaining in the corner harvesting path. If there is a short side path remaining (S54: "Yes"), the processing moves to step S55. If there is no short side path remaining (S54: "No"), the processing moves to step S56.

[0355] In step S55, the generation processing unit 312 restores the skipped immediately preceding short edge path. Specifically, it restores the immediately preceding short edge path. Figure 36A The skipped first inclined path Rm (short side path) in the corner harvesting path shown is restored. Then, the process moves to step S44, where the generation processing unit 312 tries each turning mode and generates a path to move from the work path R1 to the first inclined path Rm.

[0356] In step S56, the generation processing unit 312 attempts a third turning pattern (obtuse angle connection path) based on the connection angle setting for two consecutive paths. For example, as Figure 36F As shown, when the connection angle between the working path R1 and the first inclined path Rm is an obtuse angle, the generation processing unit 312 attempts a third turning mode (obtuse angle connection path). If the combine harvester 1 can move to the next first inclined path Rm by passing through the turning path based on the third turning mode (S57: "Yes"), the generation processing unit 312 determines the turning path of the third turning mode. On the other hand, if the combine harvester 1 cannot move to the next first inclined path Rm by passing through the turning path of the third turning mode (S57: "No"), that is, if the combine harvester 1 cannot be directly aligned with the first inclined path Rm after turning, the generation processing unit 312 moves the processing to step S58.

[0357] In step S58, the generation processing unit 312 attempts a second turning mode (α-turn) for two consecutive paths. For example, as... Figure 36F As shown, if the combine harvester 1 can move from the second inclined path Rn to the next working path R2 when passing through the turning path R35 of the second turning mode (S59: "Yes"), the generation processing unit 312 determines the turning path R35 of the second turning mode. On the other hand, if the combine harvester 1 cannot move to the next working path R2 when passing through the turning path R35 of the second turning mode (S59: "No"), that is, if the combine harvester 1 cannot be directly aligned with the working path R2 after turning, the generation processing unit 312 moves the processing to step S60.

[0358] In step S60, as Figure 36G As shown, the generation processing unit 312 performs corner harvesting operations to ensure the turning area. Specifically, in addition to generating the first inclined path Rm and the second inclined path Rn, the generation processing unit 312 also generates an inclined path Rs to perform corner harvesting operations. If the turning path cannot be determined even after processing in step S60, the generation processing unit 312 outputs an error (step S61) and terminates the processing.

[0359] When the generation processing unit 312 determines the turning path of any turning pattern, it generates a movement path R3 that includes the turning path. In this way, the generation processing unit 312 does not determine the cut area and the uncut area to generate the turning pattern (turning path), but attempts to determine the turning pattern that can be turned and generates the turning path by trying the prescribed turning pattern.

[0360] In another implementation, the generation processing unit 312 may also be... Figure 36FThe generation of the second inclined path Rn at the end causes the combine harvester 1 to pivot and enter the turning path of the working path R2. Additionally, as... Figure 36H As shown, the generation processing unit 312 can also generate a turning path R35 that includes a right-backward turning path, a left-backward turning path, and a forward straight path starting from the end of the second inclined path Rn.

[0361] In addition, such as Figure 38 As shown, the generation processing unit 312 can also set a predetermined angle between the reverse path R40 and the second inclined path Rn when turning after traveling on the second inclined path Rn. By increasing the predetermined angle, the distance of the reverse path R40 can be shortened. (13)

[0363] In the embodiment shown in (12) above, the generation processing unit 312 attempts to determine a turning mode that can be turned by attempting a predetermined turning mode, and generates a turning path based on that turning mode. As another embodiment, the generation processing unit 312 may also determine the cut area and the uncut area to determine the turning mode, and generate a turning path based on that turning mode.

[0364] Specifically, the generation processing unit 312 determines whether the harvesting operation at the corner of the field F has been completed to a predetermined position inside the field F. If it is determined that the harvesting operation at the corner of the field F has not been completed to the predetermined position, a corner harvesting path (the corner harvesting path of the present invention) is generated for carrying out the corner harvesting operation. The corner harvesting path includes one or more inclined paths that are inclined relative to the outer edge of the field F.

[0365] For example, such as Figure 39A As shown, when the combine harvester 1 moves from work path R1 to work path R2, a width Wa must be ensured in the corner area of ​​work paths R1 and R2 to allow the combine harvester 1 to turn (change direction). If the turning width Wa cannot be ensured, the problem of rolling over unharvested areas (uncut land) will occur when turning. That is, the above-mentioned specified position is the position where the combine harvester 1 can be directly opposite work path R2 when changing direction at the corner towards the next work path R2, and it is the position of width Wa from the outer edge of the field F. In addition, when the outermost work path R1 is set as the work end (boundary line) with a specified margin (safety margin) separating it from the outer edge of the field F inward, the above-mentioned specified position becomes the position of width Wa from that work end (boundary line). In addition, if the outermost working path R1 is set as the working end (boundary line) at a position (allowed protrusion position) that is outside the outer edge of the field F, the above-mentioned specified position becomes the position at a distance of width Wa from the working end (boundary line).

[0366] Furthermore, when the processing unit 312 determines that the harvesting operation at the corner of field F has been completed to the aforementioned predetermined position (width Wa), it generates a movement path R3 (direction change path) for the combine harvester 1 to change direction at the corner. For example, as... Figure 39B As shown, in the first stroke at the outermost perimeter of field F, when the harvesting operation at the corner is completed to a width Wa, the generation processing unit 312 generates a movement path R3 at the corner for moving from the operation path R1 to the operation path R2 in the second stroke. Specifically, as... Figure 40A As shown, the generation processing unit 312 generates a movement path R3 that includes turning patterns such as a forward straight path, a forward left turn path, a reverse straight path, and a forward straight path that travel on the extension of the work path R1.

[0367] Thus, when the processing unit 312 determines that the corner harvesting operation has been completed to the aforementioned predetermined position, it can generate a movement path R3 without generating a corner harvesting path. Therefore, when corner harvesting is not required, the combine harvester 1 can directly change direction by moving along the movement path R3 after completing the operation on the work path R1 without performing corner harvesting (see reference). Figure 40A ).

[0368] As other implementation methods, such as Figure 40B As shown, the generation processing unit 312 can also generate an inclined working path R12 (corner harvesting path) along the corner harvesting operation trace of the first stroke, and generate a turning path (movement path R3) connected to the inclined working path R12. Specifically, the generation processing unit 312 generates a movement path R3 that includes a turning pattern including a right reverse turning path, a reverse straight path, and a forward straight path connected to the inclined working path R12. Thus, the combine harvester 1 can directly turn and move to the working path R2 after performing corner harvesting operations along the cut area (uncut area).

[0369] In addition, as other implementation methods, such as Figure 40C As shown, when a corner area is ensured to allow for a direction change by reversing and turning, the generation processing unit 312 can also generate a movement path R3 that includes the turning path of this turning mode. Furthermore, the generation processing unit 312 can also determine the turning mode (direction change mode) for changing the direction of the combine harvester 1 based on the width of the work completion area at the corner (the width of the turnable area).

[0370] In the above structure, the generation processing unit 312 can also perform a process to determine whether the work at the corner has been completed to the specified position (width Wa) after the work at the outermost perimeter of the field F is completed. For example, after the driving and work at the outermost perimeter of the field F is completed, the field is registered. After the field is registered, when the operator generates the path, the generation processing unit 312 determines whether the harvesting work at the corner of the harvesting target area has been completed to the specified position.

[0371] Additionally, if the harvesting operation is completed at the aforementioned designated location, it can also be generated at the corner. Figure 40A The shown turning path is the default setting. By allowing the operator to customize the path, a new corner harvesting path can be generated to further harvest at the corner of the target area, moving inwards. Alternatively, the operation at the corner of the target area can be configured to allow manual driving and turning by the operator. For example, it can be set to automatically drive to the corner, then temporarily stop and switch to manual driving mode upon reaching the corner.

[0372] In addition, if the harvesting operation has not been completed to the specified position, the corner harvesting path generated in the corner of the harvesting area can be automatically driven to harvest until the corner of the harvesting area reaches the specified position as the default setting. Through the operator's arbitrary settings, the operation and operation of the corner of the harvesting area can also be set so that the harvesting operation and turning can be carried out by the operator's manual driving and operation.

[0373] Furthermore, the generation processing unit 312 can also cause the operation display unit 33 (an example of the display device of the present invention) to display information that can identify the aforementioned designated location. For example, the generation processing unit 312 can also overlay the map showing the field F onto the map screen. Figure 39A and Figure 39B The line at the position of the width Wa shown. Therefore, when it is necessary to manually drive to a certain position before starting the harvesting operation via automatic driving, it can serve as a standard for the harvesting completion position based on the manual driving. In addition, the generation processing unit 312 can also display the above-mentioned line at the position where the above-mentioned predetermined position is inferred before registering the field shape through the outermost driving and harvesting operations. (14)

[0375] The generation processing unit 312 can also be used Figure 41 and Figure 42 The method shown generates the turning path (movement path R3) after a corner harvesting operation. Figure 41The diagram shows the operation path R1 after the corner harvesting operation is completed and the operation path R2 which serves as the object path for the next harvesting operation.

[0376] First, the generation processing unit 312 sets the end point p1 of the work path R1, and sets the turning start point p2 at a position offset from the end point p1 by a distance Va from the starting point side in the travel direction. Here, the end point p1 of the work path R1 is set at the front end of the unharvested area adjacent to the work path R1 after the corner harvesting operation. In addition, the starting point side distance Va is the distance from the center of the track of the combine harvester 1 to the rear end of the combine harvester 1 plus a predetermined first margin (e.g., 0.5m). That is, the generation processing unit 312 sets the turning start point p2 at the center position of the track when the position after adding the first margin to the rear end of the combine harvester 1 reaches the end point p1.

[0377] Next, the generation processing unit 312 sets the turning circle Sa with the preset turning radius at the position where it contacts the turning start point p2.

[0378] Next, the generation processing unit 312 sets the starting point p6 of the work path R2 and sets the turning end point p5 at a position offset backward by a distance Vb from the starting point p6 towards the end point. Here, the starting point p6 of the work path R2 is set at the front end of the uncut area in the working width of the work path R2 after the corner harvesting operation. Furthermore, the end point distance Vb is the distance from the center of the combine harvester 1's track to the harvesting front end position (cutter position) of the combine harvester 1 plus a predetermined second allowance (e.g., 0.5m). That is, the generation processing unit 312 sets the turning end point p5 at the center position of the track when the position after adding the second allowance to the harvesting front end position reaches the starting point p6. The aforementioned second allowance can be the same distance as the aforementioned first allowance, or it can be a different distance.

[0379] Next, the generation processing unit 312 sets the turning circle Sb with a preset turning radius at the position where it contacts the turning end point p5. Furthermore, the turning radius of turning circle Sa and the turning radius of turning circle Sb can be the same or different. Additionally, the operation control unit 31 can adjust the aforementioned turning radii (the sizes of turning circles Sa and Sb) based on the position of the field shape, the size of the vehicle (combine harvester 1), and the turning radius (or turning angle) of the vehicle itself.

[0380] Next, the generation processing unit 312 generates a starting-side turning path r2 along the turning circle Sa and an ending-side turning path r4 along the turning circle Sb, and generates a straight path r3 (tangent to the turning circles Sa and Sb) that connects the starting-side turning path r2 and the ending-side turning path r4.

[0381] Thus, the generation processing unit 312 generates a movement path R3 between the work paths R1 and R2. The movement path R3 includes: a straight path r1 starting from the end of the work path R1; a starting-side turning path r2 starting from the end of the straight path r1 (turn start point p2); a straight path r3 starting from the end of the starting-side turning path r2 (turn end point p3); a ending-side turning path r4 starting from the end of the straight path r3 (turn start point p4); and a straight path r5 starting from the end of the ending-side turning path r4 (turn end point p5) and connecting to the beginning p6 of the work path R2.

[0382] The generation processing unit 312 can generate the movement path R3 at the end of the corner harvesting operation, or it can generate the movement path R3 when generating the corner harvesting path.

[0383] Here, in the above structure, for example, if the area of ​​the completed work zone (already worked area) for corner harvesting is insufficient, the combine harvester 1 may veer out of the field or enter the entrance / exit while traveling along the movement path R3. For example, as... Figure 42 As shown, when the working area is narrow, when the combine harvester 1 travels along the moving path R3 generated by the above structure, it may protrude out of the field or enter the entrance / exit.

[0384] Therefore, as Figure 43 As shown, the generation processing unit 312 generates a straight path r5 with a predetermined angle d1 relative to the working path R2. Specifically, the generation processing unit 312 generates a straight path r5 that passes through the beginning p6 of the working path R2 and has a predetermined angle d1 relative to the working path R2. In addition, the generation processing unit 312 will adjust the front end position of the harvesting unit 15 (separator 28 (see reference)) Figure 2 The center position of the track when aligned with the boundary between the unworked area and the worked area is set as the end point of the turning path r4 (turning end point p5). In addition, the front end position of the divider 28 is the foremost position of the vehicle on the side closer to the front of the cutter.

[0385] For example, the generation processing unit 312 sets the specified angle d1 to 5 degrees and generates a straight path r5. However, if the combine harvester 1 protrudes out of the field or enters an entrance / exit on the movement path R3 even when the specified angle d1 is set to 5 degrees, the generation processing unit 312 sets the specified angle d1 to an angle of 5 degrees or more (e.g., 10 degrees) and regenerates the straight path r5. The generation processing unit 312 adjusts the specified angle d1 until the combine harvester 1 can turn properly and generates the straight path r5. Figure 43As shown in the movement path R3, after the combine harvester 1 turns on the end-side turning path r4, it travels straight on the inclined straight path r5 and enters the working path R2.

[0386] However, if the specified angle d1 is too large, the steering angle will become too large when entering the work path R2. Therefore, when the specified angle d1 is above the threshold, the generation processing unit 312 generates a movement path R3 including a reversing path as shown below.

[0387] For example, such as Figure 44A As shown, the generation processing unit 312 sets position c1 at the center position of the track when aligning the harvesting front end position (cutter position) with the boundary between the unworked area and the worked area, and generates a sequence of data from the harvesting front end position (cutter position) and the boundary between the unworked area and the worked area. Figure 42 The structure shown is identical to the end-point turning path r4, from the end of the turning point p5 to the straight path r5 at position c1. Additionally, as... Figure 44B As shown, the generation processing unit 312 generates a straight path r6 in the backward direction, starting from the end (position c1) of the straight path r5. Furthermore, the generation processing unit 312 sets the distance Vc from the beginning p6 of the work path R2 to the end of the straight path r6 to a distance obtained by adding a third allowance (e.g., 1.5m) longer than the second allowance mentioned above, from the center position of the combine harvester 1's track to the harvesting front position of the combine harvester 1. Then, the generation processing unit 312 generates a straight path r7 starting from the end of the straight path r6 and connecting to the beginning p6 of the work path R2. According to... Figure 44A and Figure 44B The movement path R3 is shown. The combine harvester 1 turns at the end-point turning path r4 and travels on the straight path r5 (refer to...). Figure 44A After driving straight, on the straight path r6 (refer to...) Figure 44B Reverse, then proceed straight along path r7 to enter work path R2.

[0388] Even in Figure 44A and Figure 44B If combine harvester 1 cannot turn properly on the shown movement path R3, such as Figure 45 As shown, the generation processing unit 312 tilts the straight path r6 in the backward direction relative to the work path R2 by a predetermined angle d1. Specifically, the generation processing unit 312 tilts the straight path r6 in the backward direction relative to the work path R2 by a predetermined angle d1. Figure 44B The straight path r6, which has the same structure as shown, is inclined at 5 degrees relative to the working path R2. In addition, if the combine harvester 1 protrudes out of the field or enters the entrance / exit on the moving path R3 even when the specified angle d1 is set to 5 degrees, the generation processing unit 312 sets the specified angle d1 to, for example, 10 degrees and regenerates the straight path r6.

[0389] As other implementation methods, such as Figure 46A As shown, it can be assumed that the generation processing unit 312 generates a movement path R3 that will not protrude outside the field or enter the entrance / exit when the combine harvester 1 travels along the movement path R3. In this case, if the combine harvester 1 travels along the movement path R3, then as follows... Figure 46A As shown, there is a concern that when entering the working path R2, the front end of the harvesting section 15 (separator 28) may push down the straw in the unharvested area because it cannot be directly aligned with the working path R2.

[0390] In this case, such as Figure 46B As shown, the generation processing unit 312 generates a straight path r5 in the reverse direction from the state of the combine harvester 1's vehicle orientation towards the direction inclined relative to the work path R2, and generates a straight path r6 connecting the end of the straight path r5 to the beginning p6 of the work path R2. Thus, after the combine harvester 1 turns at the end-side turning path r4, it reverses on the straight path r5, and then travels straight on the straight path r6 to enter the work path R2.

[0391] Furthermore, in cases where it is difficult to move to the work path R2 even on the movement path R3 that includes reverse travel, or where the operator is not allowed to reverse travel when turning between work paths, the generation processing unit 312 generates a corner harvesting path that can ensure a wider corner harvesting area (turning area) at the corner.

[0392] As described above, the generation processing unit 312 can also determine the turning mode (turning path) and generate a turning path based on the harvested and unharvested areas. Furthermore, the vehicle control device 11 can also cause the combine harvester 1 to automatically travel according to the turning path generated based on the harvested and unharvested areas. Specifically, the generation processing unit 312 determines whether the work at the corner of the field F has been completed to a predetermined position (width Wa) inside the field F. If it determines that the work at the corner has not been completed to the predetermined position, it generates a corner harvesting path for performing the corner work. Alternatively, if it determines that the work at the corner has been completed to the predetermined position, the generation processing unit 312 does not generate a corner harvesting path but generates a direction change path (movement path R3).

[0393] Based on the above structure, since the area for the combine harvester 1 to change direction at corners can be ensured, contact with or crushing of the harvested object can be prevented. Therefore, the working accuracy at the corners of the field F can be improved.

[0394] In the above embodiments, a combine harvester 1 was given as an example of a working vehicle. However, the working vehicle of the present invention is not limited to a combine harvester 1, and may also be various working vehicles such as tractors, rice transplanters, and construction machinery. In addition, in the above embodiments, the structure in which the working vehicle is manually driven (manual steering operation) in the outermost peripheral area F0 and automatically driven (automatic steering operation) in the inner peripheral area F1 was described. However, the present invention may also have a structure in which the working vehicle is automatically driven (automatic steering operation) in both the outermost peripheral area F0 and the inner peripheral area F1.

[0395] [Note 1 to the Invention]

[0396] Hereinafter, a summary of the invention extracted from the above-described embodiments (the above-described method for generating an inner peripheral path Rb (automatic driving path) (second structure)) will be noted. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0397] <Postscript 1>

[0398] A path generation method is used to generate a path for a work vehicle to perform specified operations on work objects at the corners of a work area. The method executes as follows:

[0399] A first path is generated based on the outermost periphery of the unworked area within the aforementioned work area or the outermost edge of the aforementioned work area; and

[0400] Based on the first path described above, a second path with a predetermined tilt angle relative to the first path is generated inside the first path.

[0401] <Appendix 2>

[0402] According to the path generation method described in Appendix 1,

[0403] The first path and the second path mentioned above are automated driving paths generated in the inner area inside the outermost perimeter of the work area.

[0404] The work in the inner region is carried out after the work in the outermost region is completed.

[0405] <Appendix 3>

[0406] According to the path generation method described in Appendix 2,

[0407] The first path is generated based on the outermost position of the unworked area determined when the work is performed on the outermost peripheral area.

[0408] <Appendix 4>

[0409] According to the path generation method described in Appendix 2 or 3,

[0410] The first path is generated based on the shape of the working area determined when working on the outermost peripheral area.

[0411] <Appendix 5>

[0412] According to the path generation method described in any of the notes 1 to 4,

[0413] The aforementioned tilt angle is determined to prevent the vehicle body from protruding outside the work area when the work vehicle moves from the first path to the second path.

[0414] <Appendix 6>

[0415] According to the path generation method described in any of the notes 1 to 5,

[0416] The tilt angle is determined based on the working width corresponding to the first path, the working width corresponding to the second path, and the distance the working vehicle travels backward after completing the work on the first path.

[0417] <Appendix 7>

[0418] According to the path generation method described in any of the notes 1 to 6,

[0419] The tilt angle is set according to the operator's instructions.

[0420] <Postscript 8>

[0421] According to the path generation method described in Appendix 7,

[0422] The operating terminal displays the completed work area and the expected work area when the work is performed according to the first path and the second path, and the operator receives the tilt angle setting operation.

[0423] <Postscript 9>

[0424] According to the path generation method described in any of the notes 1 to 8,

[0425] The second path mentioned above includes multiple inclined paths.

[0426] Inside the aforementioned first path, a first inclined path with a first tilt angle relative to the aforementioned first path is generated.

[0427] Inside the first inclined path, a second inclined path is generated that has a second inclined angle that is larger than the first inclined angle relative to the first path.

[0428] <Postscript 10>

[0429] According to the path generation method described in any of the notes 1 to 9,

[0430] If a gap is created between the working width corresponding to the first path and the outermost peripheral position, the first path is shifted to eliminate the gap.

[0431] <Postscript 11>

[0432] According to the path generation method described in any of the notes 1 to 10,

[0433] Set the target line representing the outermost perimeter of the above-mentioned work area.

[0434] The tilt angle is determined based on the aforementioned target line.

[0435] <Postscript 12>

[0436] A path generation program is used to generate paths for performing specified operations on work objects at the corners of a work area.

[0437] Used to cause one or more processors to execute:

[0438] A first path is generated based on the outermost periphery of the unworked area within the aforementioned work area or the outermost edge of the aforementioned work area; and

[0439] Based on the first path described above, a second path with a predetermined tilt angle relative to the first path is generated inside the first path.

[0440] <Postscript 13>

[0441] A path generation system is a system for generating paths for performing specified operations on work objects at the corners of a work area.

[0442] A first path is generated based on the outermost periphery of the unworked area in the work area or the outer end of the work area. Based on the first path, at least a portion of a second path with a predetermined tilt angle relative to the first path is generated inside the first path.

[0443] [Note 2 to the Invention]

[0444] Hereinafter, a summary of the invention extracted from the above-described embodiments (the above-described [control method for automatic travel of combine harvester 1 (third structure)]) will be noted. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0445] <Postscript 1>

[0446] An automated driving method is a method that enables a work vehicle to automatically travel along a target path. The target path includes multiple work paths for the work vehicle to automatically travel within a work area while performing prescribed tasks. The method involves:

[0447] Based on the work site information, which includes information on unworked sites within the aforementioned work area that have not yet completed the aforementioned work and information on completed sites within the aforementioned work area, a decision is made on whether to enable the aforementioned work vehicle to perform automatic driving for each of the aforementioned work paths.

[0448] <Appendix 2>

[0449] According to the automatic driving method described in Appendix 1,

[0450] If the work target area corresponding to the above-mentioned work path is entirely the previously completed work area, then the work path will be determined as a path that prevents the above-mentioned work vehicle from driving automatically.

[0451] <Appendix 3>

[0452] According to the automatic driving method described in Appendix 1 or 2,

[0453] If at least a portion of the work object area corresponding to the above-mentioned work path is the above-mentioned unworked area, the work path shall be determined as the path that enables the above-mentioned work vehicle to drive automatically.

[0454] <Appendix 4>

[0455] According to the automatic driving method described in Appendix 3,

[0456] The aforementioned work vehicles are automatically driven to the terminal of the unworked area within the work target area corresponding to the aforementioned work path.

[0457] <Appendix 5>

[0458] According to the automatic driving method described in Appendix 3 or 4,

[0459] Even if the above-mentioned work path is determined to be the path for the above-mentioned work vehicle to travel automatically, the work path will not be traveled automatically if a prescribed operation is performed by the operator.

[0460] <Appendix 6>

[0461] According to the automatic driving method described in any of the appendices 1 to 5,

[0462] The non-operational and operational areas are determined based on the passing position of the operation machine when the operation vehicle is in motion, and the determination results are recorded in the operation area information.

[0463] <Appendix 7>

[0464] According to the automatic driving method described in Appendix 6,

[0465] The aforementioned work area is divided into multiple partitions, and for each partition, it is determined whether it is an area that has not been worked on or an area that has been worked on.

[0466] <Postscript 8>

[0467] According to any of the appendices 1 to 7, the automatic driving method is as described.

[0468] The aforementioned multiple work paths are generated corresponding to the corners of the aforementioned work areas, including a first path and a second path having a predetermined tilt angle relative to the first path on the inner side of the first path.

[0469] <Postscript 9>

[0470] An automated driving program is an automated driving program that enables a work vehicle to automatically drive along a target path. The target path includes multiple work paths for the work vehicle to automatically drive within a work area while performing prescribed tasks.

[0471] Used to cause one or more processors to execute:

[0472] Based on the work site information, which includes information on unworked sites within the aforementioned work area that have not yet completed the aforementioned work and information on completed sites within the aforementioned work area, a decision is made on whether to enable the aforementioned work vehicle to perform automatic driving for each of the aforementioned work paths.

[0473] <Postscript 10>

[0474] An automated driving system is an automated driving system that enables a work vehicle to automatically travel along a target path, wherein the target path includes multiple work paths for the work vehicle to automatically travel within a work area while performing prescribed tasks.

[0475] Based on the work site information, which includes information on unworked sites within the aforementioned work area that have not yet completed the aforementioned work and information on completed sites within the aforementioned work area, a decision is made on whether to enable the aforementioned work vehicle to perform automatic driving for each of the aforementioned work paths.

[0476] [Note 3 of the Invention]

[0477] Hereinafter, a summary of the invention extracted from the above-described embodiment (the above-described [motion control (fourth structure) of the harvesting machine (harvesting unit 15)]) will be noted. Furthermore, the various structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0478] <Postscript 1>

[0479] An automated driving method is a method in which a work vehicle automatically travels along a target path within a work area while simultaneously performing prescribed tasks using a work machine. The method involves:

[0480] The operation of the work machine is controlled based on work site information, which includes information on unworked areas within the aforementioned work area where the aforementioned work has not been completed and information on completed areas where the aforementioned work has been completed.

[0481] <Appendix 2>

[0482] According to the automatic driving method described in Appendix 1,

[0483] Before the aforementioned work vehicle moves from the aforementioned already-operated area to the aforementioned unoperated area, the aforementioned work machine is set to the work position.

[0484] <Appendix 3>

[0485] According to the automatic driving method described in Appendix 1 or 2,

[0486] After the aforementioned work vehicle enters the aforementioned work area from the aforementioned non-work area, the aforementioned work machine is set to a non-work position.

[0487] <Appendix 4>

[0488] According to the automatic driving method described in any of the appendices 1 to 3,

[0489] When the aforementioned work vehicle enters the aforementioned work area from the aforementioned non-work area, if the distance from the beginning of the work area to the beginning of the next non-work area is more than a predetermined distance, the aforementioned work machine is set to a non-work position.

[0490] <Appendix 5>

[0491] According to the automatic driving method described in Appendix 4,

[0492] When the aforementioned work vehicle enters the aforementioned work area from the aforementioned non-work area, if the distance from the beginning of the work area to the beginning of the next non-work area is less than the aforementioned specified distance, the aforementioned work machine is set to a first position or a work position that is closer to the work position than the aforementioned non-work position.

[0493] <Appendix 6>

[0494] According to the automatic driving method described in Appendix 5,

[0495] The aforementioned work machine can move up and down between the highest position (which is the non-working position) and the lowest position (which is the working position).

[0496] The first position mentioned above is either the lowest position mentioned above, or a position between the lowest position mentioned above and the highest position mentioned above.

[0497] <Appendix 7>

[0498] According to any of the appendices 1 to 6, the automatic driving method is described.

[0499] The timing of the operation of the aforementioned work machine is determined based on the speed of the work vehicle and the time required for the work machine to move from the non-work position to the work position.

[0500] <Postscript 8>

[0501] According to any of the appendices 1 to 7, the automatic driving method is as described.

[0502] When the aforementioned work vehicle automatically travels along a corner harvesting path generated relative to the corner of the aforementioned work area, the operation of the aforementioned work machine is controlled based on the aforementioned work site information.

[0503] <Postscript 9>

[0504] According to the automatic driving method described in Appendix 8,

[0505] In the aforementioned corner harvesting path, when the aforementioned work vehicle enters the aforementioned work area from the aforementioned unworked area, the aforementioned work machine is set to the first non-work position, and the aforementioned work vehicle is reversed.

[0506] <Postscript 10>

[0507] According to the automatic driving method described in Appendix 8 or 9,

[0508] In the final path of the aforementioned corner harvesting path, when the aforementioned work vehicle enters the aforementioned work area from the aforementioned unworked area, the aforementioned work machine is set to the highest position.

[0509] <Postscript 11>

[0510] According to the automatic driving method described in any of the appendices 8 to 10,

[0511] The aforementioned corner harvesting path includes a first path and a second path that is inside the first path and has a predetermined angle of inclination relative to the first path.

[0512] <Postscript 12>

[0513] An automated driving program is a program that enables a work vehicle to automatically travel along a target path within a work area while simultaneously performing prescribed tasks using a work machine.

[0514] Used to cause one or more processors to execute:

[0515] The operation of the work machine is controlled based on work site information, which includes information on unworked areas within the aforementioned work area where the aforementioned work has not been completed and information on completed areas where the aforementioned work has been completed.

[0516] <Postscript 13>

[0517] An automated driving system is a system that enables a work vehicle to automatically travel along a target path while performing prescribed tasks using a work machine within a work area.

[0518] The operation of the work machine is controlled based on work site information, which includes information on unworked areas within the aforementioned work area where the aforementioned work has not been completed and information on completed areas where the aforementioned work has been completed.

[0519] [Note 4 of the Invention]

[0520] Hereinafter, a summary of the invention extracted from the above-described embodiments (13) will be noted. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0521] <Postscript 1>

[0522] A path generation method is used to generate automatic driving paths for work vehicles to perform specified tasks on work objects in a work area. The method executes the following steps:

[0523] Determine whether the work at the corner of the aforementioned work area has been completed to the specified position inside the aforementioned work area; and

[0524] If it is determined that the work at the corner of the aforementioned work area has not been completed to the specified position, a corner work path is generated for performing the work at the aforementioned corner.

[0525] <Appendix 2>

[0526] According to the path generation method described in Appendix 1,

[0527] If it is determined that the work at the corner of the aforementioned work area has been completed to the specified position, a direction change path is generated to enable the aforementioned work vehicle to change direction at the aforementioned corner.

[0528] <Appendix 3>

[0529] According to the path generation method described in Appendix 1 or 2,

[0530] If it is determined that the work at the corner of the aforementioned work area has been completed to the specified position, the aforementioned corner work path will not be generated. Instead, a direction change path will be generated to enable the aforementioned work vehicle to change direction at the aforementioned corner.

[0531] <Appendix 4>

[0532] According to the path generation method described in any of the notes 1 to 3,

[0533] After the work at the outermost perimeter of the aforementioned work area is completed, determine whether the work at the aforementioned corner has been completed to the aforementioned specified position.

[0534] <Appendix 5>

[0535] According to the path generation method described in any of the notes 1 to 4,

[0536] The display device displays information that can identify the specified location.

[0537] <Appendix 6>

[0538] According to the path generation method described in any of the notes 1 to 5,

[0539] The aforementioned designated position is the position where the aforementioned work vehicle can be directly facing the work path when it changes direction at the aforementioned corner towards the next work path.

[0540] <Appendix 7>

[0541] According to the path generation method described in any of the notes 1 to 6,

[0542] The aforementioned corner work path includes one or more inclined paths that are inclined relative to the outer edge of the aforementioned work area.

[0543] <Postscript 8>

[0544] According to the path generation method described in any of the notes 1 to 7,

[0545] Based on the width of the work completion area at the aforementioned corner, the direction conversion mode for the aforementioned work vehicle to change direction is determined.

[0546] <Postscript 9>

[0547] A path generation program is a program that generates automatic driving paths for work vehicles to perform specified tasks on work objects in a work area.

[0548] Used to cause one or more processors to execute:

[0549] Determine whether the work at the corner of the aforementioned work area has been completed to the specified position inside the aforementioned work area; and

[0550] If it is determined that the work at the corner of the aforementioned work area has not been completed to the specified position, a corner work path is generated for performing the work at the aforementioned corner.

[0551] <Postscript 10>

[0552] A path generation system is a system for generating automatic driving paths for work vehicles to perform specified tasks on work objects in a work area.

[0553] The system includes a generation processing unit that determines whether the work at the corner of the work area has been completed to a predetermined position inside the work area. If the work at the corner of the work area has not been completed to the predetermined position, the system generates a corner work path for performing the work at the corner.

[0554] Furthermore, the present invention can also be constructed by appropriately combining the features described in Appendix 1 to 4 of the invention.

Claims

1. A path generation method, which generates an automatic driving path for a work vehicle to perform specified tasks on work objects in a work area, characterized in that, implement: Determine whether the work at the corner of the work area has been completed to the specified position inside the work area; and If it is determined that the work at the corner of the work area has not been completed to the specified position, a corner work path is generated for performing the work at the corner.

2. The path generation method according to claim 1, characterized in that, If it is determined that the work at the corner of the work area has been completed to the specified position, a direction change path is generated to enable the work vehicle to change direction at the corner.

3. The path generation method according to claim 1, characterized in that, If it is determined that the work at the corner of the work area has been completed to the specified position, the corner work path is not generated, but a direction change path is generated to enable the work vehicle to change direction at the corner.

4. The path generation method according to claim 1, characterized in that, After the work at the outermost perimeter of the work area is completed, it is determined whether the work at the corner has been completed to the specified position.

5. The path generation method according to claim 1, characterized in that, The display device displays information that can identify the specified location.

6. The path generation method according to claim 1, characterized in that, The designated position is the position where the work vehicle is directly facing the work path when it changes direction at the corner towards the next work path.

7. The path generation method according to claim 1, characterized in that, The corner work path includes one or more inclined paths that are inclined relative to the outer edge of the work area.

8. The path generation method according to any one of claims 1 to 7, characterized in that, The direction conversion mode for the work vehicle to change direction is determined based on the width of the work completion area at the corner.

9. A path generation program, characterized in that it generates an automatic driving path for a work vehicle to perform specified operations on a work object in a work area, wherein... Used to cause one or more processors to execute: Determine whether the work at the corner of the work area has been completed to the specified position inside the work area; and If it is determined that the work at the corner of the work area has not been completed to the specified position, a corner work path is generated for performing the work at the corner.

10. A path generation system, characterized in that, it generates an automatic driving path for a work vehicle to perform specified operations on a work object in a work area. The system includes a generation processing unit that determines whether the work at the corner of the work area has been completed to a predetermined position inside the work area. If the work at the corner of the work area has not been completed to the predetermined position, the generation processing unit generates a corner work path for performing the work at the corner.

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