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

Abstract

To provide a route generation method, a route generation program, and a route generation system capable of easily generating a target route for causing a work vehicle to travel automatically.SOLUTION: A generation processing unit 112 generates a first reference line set to a farm field and generates a second reference line on the basis of the first reference line. A correction processing unit 113 corrects the second reference line upon receipt of a predetermined correction operation when a combine 1 travels automatically on the basis of the second reference line.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for generating a route for automatically driving a work vehicle in a work area. [Background technology]

[0002] Conventionally, a system is known that automatically drives a work vehicle along a pre-generated target route in a farm field (see, for example, Patent Document 1). For example, the system generates a plurality of reference lines based on an operation by an operator, and automatically drives the work vehicle along a target route corresponding to a reference line selected from the plurality of reference lines. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7203654 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, for example, when it is desired to make a work vehicle travel along a route that is deviated from the target route, the worker must regenerate the reference line, which is time-consuming.

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

[0006] A route generation method according to the present invention is a method for generating a target route for automatically driving a work vehicle based on a reference line. The route generation method executes the steps of generating a predetermined first reference line, generating a second reference line based on the first reference line, and correcting the second reference line when a predetermined correction operation is received when the work vehicle automatically drives based on the second reference line.

[0007] A route generation program according to the present invention is a program for generating a target route for automatically driving a work vehicle based on a reference line. The route generation program is a program for causing one or more processors to execute the following operations: generating a predetermined first reference line, generating a second reference line based on the first reference line, and correcting the second reference line when a predetermined correction operation is received when the work vehicle automatically drives based on the second reference line.

[0008] The route generation system according to the present invention is a system that generates a target route for automatically driving a work vehicle based on a reference line. The route generation system includes a generation processing unit and a correction processing unit. The generation processing unit generates a predetermined first reference line, and generates a second reference line based on the first reference line. The correction processing unit corrects the second reference line when a predetermined correction operation is received when the work vehicle automatically drives based on the second reference line. Effect of the Invention

[0009] According to the present invention, it is possible to provide a route generation method, a route generation program, and a route generation system that can easily generate a target route for automatic travel of a work vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a functional block diagram showing the configuration of a traveling system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external side view showing the configuration of the combine harvester according to the embodiment of the present invention. [Diagram 3]FIG. 3 is an external top view showing the configuration of the combine harvester according to the embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing an example of a target route set in a farm field according to an embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of an operating procedure of a combine harvester according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing a configuration of an operating device provided in a combine harvester according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing a configuration of an operating device provided in a combine harvester according to an embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a method for generating a reference line for a combine according to the first embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a method for generating a reference line for the combine according to the first embodiment of the present invention. [Figure 8C] FIG. 8C is a diagram showing an example of a method for generating a reference line for a combine harvester according to embodiment 1 of the present invention. [Figure 8D] FIG. 8D is a diagram showing an example of a method for generating a reference line for a combine according to embodiment 1 of the present invention. [Figure 8E] FIG. 8E is a diagram showing an example of a method for generating a reference line for a combine harvester according to the first embodiment of the present invention. [Figure 9A] FIG. 9A is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention. [Figure 9B] FIG. 9B is a diagram showing an example of a method for generating a target route for a combine harvester according to the first embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a method for correcting the reference line according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of a procedure of a traveling process executed by the traveling system according to the first embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a method for correcting the reference line according to the first embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 16A] FIG. 16A is a diagram showing an example of a method for generating a reference line of a combine according to the second embodiment of the present invention. [Figure 16B] FIG. 16B is a diagram showing an example of a method for generating a reference line for a combine harvester according to the second embodiment of the present invention. [Figure 16C] FIG. 16C is a diagram showing an example of a method for generating a reference line for a combine harvester according to embodiment 2 of the present invention. [Figure 16D] FIG. 16D is a diagram showing an example of a method for generating a reference line for a combine harvester according to embodiment 2 of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a method for correcting the reference line according to the second embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing an example of a method for correcting the reference line according to the second embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing an example of a method for correcting the reference line according to the second embodiment of the present invention. [Figure 20] FIG. 20 is a flowchart showing an example of a procedure of a route generation process executed by the traveling system according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0012] [Embodiment 1] The travel system according to the first embodiment of the present invention includes a combine harvester 1, a satellite (not shown), and a base station (not shown). The combine harvester 1 is an example of a work vehicle of the present invention. The work vehicle of the present invention is not limited to the combine harvester 1, and may be a tractor, a rice transplanter, a construction machine, a snowplow, or the like.

[0013] The combine harvester 1 performs a predetermined task (e.g., harvesting task) while traveling along a target route R in a field F (see FIG. 4) in response to operation by a worker (operator). Specifically, the combine harvester 1 automatically travels along the target route R (e.g., a straight work route) in response to automatic steering in a work area of ​​the field F, and manually travels in response to manual steering (driving operation) by the operator in a non-work area of ​​the field F. The combine harvester 1 travels through the field F while switching between automatic traveling in the work area and manual traveling in the non-work area to perform the task. The target route R may be generated in advance based on operation by the operator and stored as route data.

[0014] In this embodiment, automatic traveling means that the combine harvester 1 travels while controlling (automatic steering) the steering amount (steering angle) so as to follow the target route R. While the combine harvester 1 is traveling automatically, the operator can operate the main shift lever to switch the vehicle speed (traveling speed) and traveling direction (forward direction and reverse direction). In addition, when the operator performs a stop operation (pressing a stop switch, steering the handle, etc.) while the combine harvester 1 is traveling automatically according to the target route R, the operator can stop the automatic traveling of the combine harvester 1. Thus, the combine harvester 1 of this embodiment is configured to perform only automatic steering (steering control processing) during automatic traveling, and to perform the switching processing of the vehicle speed and traveling direction and the stopping processing according to the operation of the operator. As another embodiment, the combine harvester 1 may be configured to automatically perform each of the automatic steering, the switching processing of the vehicle speed and traveling direction, and the stopping processing without depending on the operation of the operator.

[0015] 4A and 4B show an example of a target route R set for a field F. The combine harvester 1 performs a harvesting operation while automatically traveling along the target route R in the field F. For example, as shown in FIG. 4A, when a plurality of routes (parallel lines) parallel to the first reference line L1 are set as the target route R1, the combine harvester 1 automatically travels in the vertical direction in the field F according to the set target route R1. Also, as shown in FIG. 4B, when a plurality of routes (parallel lines) parallel to the second reference line L2 are set as the target route R2, the combine harvester 1 automatically travels in the horizontal direction in the field F according to the set target route R2. In the following description, when it is not necessary to distinguish between the target routes R1 and R2, they are referred to as "target routes R." The first reference line L1 is generated based on, for example, a start point A and an end point B registered at any position in the field F, and the second reference line L2 is generated by, for example, an orthogonal line perpendicular to the first reference line L1. The second reference line L2 may be generated based on a start point and an end point, similar to the first reference line L1. The target route R along which the combine 1 is automatically driven is not limited to a straight route, and may be a curved route. For example, when a straight reference line L is generated, a straight target route R is generated, and when a curved reference line L is generated, a curved target route R is generated.

[0016] An example of the operation procedure of the combine harvester 1 will be described with reference to FIG. 5. The combine harvester 1 performs a reaping operation while automatically traveling along target routes R1, R2 (see FIG. 4A and FIG. 4B) generated based on the first reference line L1 and the second reference line L2 in the field F. For example, the combine harvester 1 automatically travels along the target routes R1, R2 when traveling straight, and manually travels according to the manual steering of the operator when turning. Here, the combine harvester 1 performs a reaping operation ("circular reaping" and "reciprocating reaping") while traveling from the outer periphery to the inner periphery from the start position S to the end position G. First, the combine harvester 1 starts automatic traveling at the start position S and travels along the outer periphery of the field F while reaping the stalks. In addition, when the combine harvester 1 threshes the reaped stalks, it discharges waste straw such as straw chips to the outside from the rear of the machine body. As a result, waste straw C1 is piled up in the path of the combine harvester 1, and a straw row is formed on the path where the combine harvester 1 has finished harvesting. The combine harvester 1 is set to discharge waste straw from the harvested stalks at the position of the stalks to be harvested, and is configured to be able to grasp the position, width (horizontal width of the straw row in the left-right direction), length, etc. of the waste straw C1. For example, the waste straw C1 is discharged with a width narrower than the width of the machine body, based on the center of the left-right direction of the combine harvester 1. For example, the combine harvester 1 makes two revolutions around the outer peripheral area F1. In this case, two straw rows are formed. The number of revolutions of the outer peripheral area F1 is not limited to two, and may be one or three or more revolutions.

[0017] When the combine harvester 1 finishes the harvesting work in the outer peripheral area F1, it enters the inner peripheral area F2 and starts harvesting work in the inner peripheral area F2. In the inner peripheral area F2, the combine harvester 1 performs harvesting work while traveling straight up and down, and moves between work paths by turning and traveling straight in the outer peripheral area F1 (worked area, already-cut area) without performing harvesting work in the left and right directions. The combine harvester 1 performs harvesting work in the inner peripheral area F2, and when it reaches the end position G, it ends automatic traveling and harvesting work.

[0018] As described above, the combine harvester 1 performs the reaping operation in the field F while automatically traveling along a target route R1 (see FIG. 4A) corresponding to the first reference line L1 in the up-down direction, and performs the reaping operation while automatically traveling along a target route R2 (see FIG. 4B) corresponding to the second reference line L2 in the left-right direction. The combine harvester 1 may also perform the reaping operation while automatically traveling in a straight line, and may also perform the reaping operation while manually traveling in response to manual steering by the operator when turning. For example, the combine harvester 1 may perform the reaping operation while automatically traveling forward along a straight route (working route) and automatically traveling backward along a worked route (already worked route) after stopping the reaping operation. The combine harvester 1 may also perform the reaping operation while manually traveling with manual steering by the operator when moving between the working routes.

[0019] The traveling system may include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operation terminal is capable of communicating with the combine harvester 1 via a communication network such as a mobile phone line network, a packet line network, or a wireless LAN. For example, the operator operates the operation terminal to register various information (work vehicle information, farm field information, work information, etc.). In addition, the operator can grasp the traveling status and work status of the combine harvester 1 from the traveling trajectory displayed on the operation terminal at a location away from the combine harvester 1. The operation terminal may be mountable on the combine harvester 1.

[0020] [Combine 1] Fig. 2 shows an external view of the combine harvester 1 seen from the side, and Fig. 3 shows an external view of the combine harvester 1 seen from above. As shown in Figs. 1 to 3, the combine harvester 1 includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, a steering section 9, an operating device 30, a control device 11, a memory section 51, a positioning unit 52, a detection section 53, a communication section 54, and the like. While traveling on the traveling section 2, the combine harvester 1 reaps culms with the reaping section 3, threshes the reaped culms with the threshing section 4, and sorts the grains with the sorting section 5 and stores them in the storage section 6. In addition, the combine harvester 1 processes the straw waste after threshing with the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 using power supplied by the power section 8.

[0021] The traveling unit 2 is provided below the machine frame 12, and includes a pair of left and right crawler-type traveling devices 23, and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 23 using power (e.g., rotational power) transmitted from the engine 20 of the power unit 8, causing the combine 1 to travel in the forward / rearward direction and turn in the left / right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 23, and can also change the speed of the rotational power.

[0022] The reaping unit 3 is a working machine that performs work on the field F to be worked on, and is provided in front of the traveling unit 2. It reaps culms of a predetermined reaping width in an area (unmowed area) of the field F that has unmowed culms, which is an unworked area of ​​the field F. The reaping unit 3 is an example of a working unit of the present invention. The reaping unit 3 includes a divider 13, a raking reel 14, a cutting blade 15, a raking auger 16, a feeder house 17, and a transport conveyor 18. The reaping unit 3 also includes a rotation detection unit (not shown) that detects the rotation speed (working speed) of the rotation work for performing the reaping work. The rotation detection unit is composed of a rotation sensor that detects, for example, the rotation speed of the raking reel 14, the rotation speed of the raking auger 16, the rotation speed of the transport conveyor 18, and the like.

[0023] The dividers 13 are provided protruding forward from the left and right front ends of the reaping unit 3, and guide the culms in the uncut area within the reaping width. The raking reel 14 is provided behind the dividers 13 and rotatably about a rotation axis extending in the left-right direction. To assist in the reaping of the culms guided by the dividers 13, the raking reel 14 raks in the tip side of the culms while raising the culms by rotating. The cutting blade 15 is provided below the raking reel 14, and cuts the base side of the culms raked in by the raking reel 14 to reaper the culms.

[0024] The raking auger 16 is disposed behind the raking reel 14 and the cutting blade 15, and is rotatable about a rotation axis extending in the left-right direction. The raking auger 16 rakes in the stalks cut by the cutting blade 15 and transports them rearward by being driven to rotate.

[0025] The feeder house 17 extends forward from the machine frame 12, is disposed behind the raking auger 16, and is supported by the machine frame 12 so as to be capable of ascending and descending. When the feeder house 17 ascends and descends, the divider 13, the raking reel 14, the cutting blade 15, and the raking auger 16 ascend and descend, i.e., the reaping unit 3 ascends and descends.

[0026] The combine harvester 1 is provided with a lifting device 19 on the machine frame 12, which lifts and lowers the feeder house 17 to lift and lower the reaping unit 3, and raises and lowers the reaping unit 3 between a working position (see FIG. 2) and a non-working position (not shown). The lifting device 19 is composed of, for example, a hydraulic cylinder that is operated by receiving power from the engine 20.

[0027] The transport conveyor 18 is rotatably provided in the feeder house 17 and moves with the elevation of the feeder house 17. The transport conveyor 18 rotates to transport the stalks transported into the feeder house 17 by the raking auger 16 further rearward to the threshing section 4.

[0028] The threshing section 4 is provided behind the feeder house 17 of the reaping section 3, and threshes the stumps transported from the feeder house 17. The threshing section 4 includes a threshing drum 21 and a receiving net 22. The threshing drum 21 threshes grains from the stumps transported from the feeder house 17, and transports the threshed stumps, i.e., waste straw, to the straw waste processing section 7. The receiving net 22 supports the stumps transported by the threshing drum 21, and sieves and drops the grains.

[0029] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 24, an air blowing sorting device 25, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 24 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 25 further separates the threshed grains that have fallen from the threshing section 4 and the threshed grains that have been sorted by the oscillating sorting device 24 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 to the storage section 6. The straw dust discharge device discharges straw dust, etc. other than the grains that have been sorted by the oscillating sorting device 24 and the air blowing sorting device 25 to the outside of the machine.

[0030] The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a storage tank (grain tank) 27 and a grain discharge device 28. The storage tank 27 stores the grains transported from the sorting unit 5. The grain discharge device 28 is configured with a discharge auger and the like, and performs grain discharge work, discharging the grains stored in the storage tank 27 to a transport vehicle at a preset discharge position.

[0031] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 includes, for example, a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste processing section 7 transports the straw transported from the threshing section 4 to the straw waste cutting device by the straw waste conveying device, cuts the straw by the straw waste cutting device, and then discharges it to the rear of the combine 1 (see FIG. 5).

[0032] The power unit 8 is provided above the traveling section 2 and below the storage section 6. The power unit 8 is equipped with an engine 20 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 20 to the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7. The combine 1 also has a fuel tank that stores fuel to be supplied to the engine 20 of the power unit 8.

[0033] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with a handle for instructing the turning of the body of the combine harvester 1, a main speed change lever and an auxiliary speed change lever for instructing a change in the forward and backward speed of the combine harvester 1, and the like, as operating tools for operating the traveling of the combine harvester 1, around the driver's seat 40 where the operator sits. The manual traveling of the combine harvester 1 is performed by the traveling unit 2 that receives the operation of the handle, the main speed change lever, and the auxiliary speed change lever of the control unit 9. The control unit 9 also includes mechanisms for operating the reaping work by the reaping unit 3, the threshing work by the threshing unit 4, the discharge work by the grain discharge device 28 of the storage unit 6, and the like. The control unit 9 also includes an operating device 30 (see FIG. 6) for generating a reference line (reference direction) corresponding to the target route R. The operating device 30 is operated by the operator riding on the combine harvester 1.

[0034] The positioning unit 52 acquires the vehicle position of the combine harvester 1 by using a satellite positioning system such as GPS. For example, the positioning unit 52 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 52, i.e., the vehicle position (measurement point data) of the combine harvester 1, based on the positioning signal. The positioning unit 52 may be configured with a quantum compass instead of a positioning antenna.

[0035] The communication unit 54 is a communication interface for connecting the combine 1 to the communication network N1 by wire or wirelessly and for executing data communication in accordance with a predetermined communication protocol with an external device such as an operation terminal via the communication network N1.

[0036] The storage unit 51 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various information. The storage unit 51 stores a control program such as a travel program for causing the control device 11 to execute a travel process (see FIG. 11) described later. For example, the travel program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 51. The travel program may be downloaded from a server (not shown) to the combine harvester 1 via a communication network N1 and stored in the storage unit 51. The storage unit 51 also stores various setting information acquired from the operation device 30.

[0037] The detection unit 53 is a sensor that detects a detection target in a predetermined detection range using infrared rays, ultrasonic waves, etc. For example, the detection unit 53 may be a lidar sensor (distance sensor) that can measure the distance to a measurement target (detection target) in three dimensions using a laser, or a sonar sensor having multiple sonars that can measure the distance to a measurement target using ultrasonic waves. The sonar sensor may be configured not to have a distance measurement function.

[0038] The control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The control device 11 controls the combine harvester 1 by executing, by the CPU, various control programs that are stored in advance in the ROM or the storage unit 51.

[0039] Next, the configuration of the operation device 30 will be described with reference to Fig. 7. The operation device 30 is attached near the steering wheel so that an operator sitting in the driver's seat can operate it (see Fig. 6). The operation device 30 includes an automatic driving instruction unit 31, an automatic driving display unit 32, a plurality of reference line operation units 33, a plurality of reference line display units 34, a start point setting unit 35, an end point setting unit 36, a start point setting display unit 37, and an end point setting display unit 38.

[0040] In this embodiment, an example will be described in which the operation device 30 includes a reference line operation unit 33a and a reference line display unit 34a that can set a first reference line, and a reference line operation unit 33b and a reference line display unit 34b that can set a second reference line. Note that the operation device of the present invention may be configured to be capable of setting three or more reference lines.

[0041] The automatic driving instruction unit 31 is an operation unit for operating an instruction to start automatic driving by the combine harvester 1, and is configured to be able to accept a pressing operation using a circular operation button or the like. When an automatic driving start condition is satisfied, the automatic driving instruction unit 31 transmits an automatic driving start instruction to the control device 11 in response to the pressing operation.

[0042] The automatic driving instruction unit 31 may be operable to be pressed only when the start condition is satisfied, or may be operable at all times and transmit an instruction to start automatic driving only when the start condition is satisfied and a pressing operation is performed. Alternatively, the automatic driving instruction unit 31 may be operable at all times and transmit an instruction to start automatic driving in response to a pressing operation, while the control device 11 may determine to accept a start instruction only when the start condition is satisfied.

[0043] The automatic driving display unit 32 is composed of LEDs, lamps, etc. that indicate the state of automatic driving by the combine harvester 1, and is controlled by the control device 11 to display in different display states depending on whether or not the conditions for starting automatic driving are met. The automatic driving display unit 32 is formed, for example, in a ring shape that surrounds the automatic driving instruction unit 31. Note that, although the automatic driving display unit 32 is configured separately from the automatic driving instruction unit 31 in this embodiment, the automatic driving display unit 32 may be configured integrally with the automatic driving instruction unit 31.

[0044] For example, if the start condition is not satisfied, the automatic driving display unit 32 is turned off. On the other hand, if the start condition is satisfied, the automatic driving display unit 32 flashes before the start of automatic driving and is turned on while automatic driving is being performed. Note that, if there are multiple start conditions, the automatic driving display unit 32 may display whether or not each start condition is satisfied in an identifiable manner, and may be configured, for example, to be divided into multiple parts, with each divided part corresponding to each start condition. The automatic driving display unit 32 may also identify the state of automatic driving by utilizing other display states.

[0045] The multiple reference line operation units 33 are operation units that accept a selection operation of each reference line, and are configured to be able to accept a pressing operation with a circular operation button or the like. Each reference line operation unit 33 transmits a selection instruction to the control device 11 to select the corresponding reference line as an automatic driving target in response to a selection operation such as a pressing operation. Note that each reference line operation unit 33 may transmit a selection cancellation instruction to the control device 11 to cancel the selection of the corresponding reference line as an automatic driving target in response to a cancellation operation such as a second pressing operation.

[0046] For example, in response to a selection operation of the reference line operation unit 33, a corresponding reference line is selected as an automatic travel target, and when the automatic travel instruction unit 31 is pressed, an automatic travel route (target route) based on the reference line is generated, and the combine 1 is automatically traveled along the automatic travel route. After the reference line corresponding to the reference line operation unit 33 is selected as an automatic travel target in response to a selection operation of the reference line operation unit 33, the reference line may be released from the automatic travel target in response to a selection release instruction of the reference line operation unit 33.

[0047] The multiple reference line display units 34 correspond to the multiple reference lines respectively, and are composed of LEDs, lamps, etc. that indicate the state of each reference line, and are controlled by the control device 11 to display in different display states depending on the setting state and selection state of each reference line. Note that the multiple reference line display units 34 also correspond to the multiple reference line operation units 33 respectively, and although an example is shown in which each reference line display unit 34 is configured integrally with each reference line operation unit 33, in other examples, each reference line display unit 34 may be configured separately from each reference line operation unit 33.

[0048] Furthermore, when the reference line is selected as the target for automatic traveling, the reference line display unit 34 flashes. At this time, the reference line display unit 34 may be displayed in a different flashing state (for example, different flashing intervals) when the reference line is automatically selected according to the vehicle position and traveling direction of the combine harvester 1 and when the reference line is selected according to the selection operation of the reference line operation unit 33. Note that the reference line display unit 34 may be displayed in the same display state, for example, flashed at the same interval, before and during the start and execution of automatic traveling, or may be displayed in a different state, for example, flashed at different intervals.

[0049] The start point setting unit 35 is an operation unit that accepts a setting operation of the start point (point A) of each reference line, and is configured to be able to accept a pressing operation with an operation button or the like. The start point setting unit 35 transmits a start point setting instruction to the control device 11 in response to a setting operation such as a pressing operation. At this time, the control device 11 sets the own vehicle position of the combine 1 as the start point of the reference line.

[0050] The end point setting unit 36 ​​is an operation unit that accepts a setting operation of the end point (point B) of each reference line, and is configured to be able to accept a pressing operation with an operation button or the like. The end point setting unit 36 ​​transmits an end point setting instruction to the control device 11 in response to a setting operation such as a pressing operation. At this time, the control device 11 sets the own vehicle position of the combine 1 as the end point of the reference line.

[0051] The start point setting display unit 37 is configured with an LED, lamp, etc. that indicates the setting state of the start point, and is controlled by the control device 11 to display in different display states according to the operation of the start point setting unit 35. Note that in this embodiment, the start point setting display unit 37 is configured integrally with the start point setting unit 35, but in other examples, the start point setting display unit 37 may be configured separately from the start point setting unit 35.

[0052] The start point setting display unit 37 is turned off when the start point can be set, i.e., when the start point has not been set, and is turned on when the start point cannot be set, i.e., when the start point has been set.

[0053] The end point setting display unit 38 is configured with an LED, a lamp, etc. that indicates the setting state of the end point, and is controlled by the control device 11 to display in different display states according to the operation of the end point setting unit 36. Note that in this embodiment, the end point setting display unit 38 is configured integrally with the end point setting unit 36, but in other examples, the end point setting display unit 38 may be configured separately from the end point setting unit 36.

[0054] The end point setting display unit 38 is turned off when the end point can be set, i.e., when the end point has not been set, and is turned on when the end point cannot be set, i.e., when the end point has been set.

[0055] In this way, the operation device 30 accepts operations for generating a reference line and operations for selecting a reference line when starting automatic traveling. In another embodiment, the operation device 30 may omit the reference line operation unit 33 and the reference line display unit 34. Furthermore, the operation device 30 may include a display unit (display panel) and display an operation screen corresponding to the reference line operation unit 33 and the reference line display unit 34 on the display unit. Furthermore, the operation device 30 may be configured as the operation terminal (mobile terminal) capable of data communication with the combine harvester 1.

[0056] In the conventional technology, for example, when a combine harvester is to travel along a route that is displaced from a target route corresponding to a previously generated reference line, the operator must regenerate the reference line, which is time-consuming. In contrast, the combine harvester 1 according to the present embodiment has a configuration that makes it possible to easily generate a target route for automatic travel, as described below.

[0057] Specifically, as shown in Fig. 1, the control device 11 includes various processing units such as a driving processing unit 111, a generation processing unit 112, and a correction processing unit 113. The control device 11 functions as the various processing units by executing various processes according to the driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The driving program may be a program for causing a plurality of processors to function as the processing units. The driving program includes a route generation program of the present invention.

[0058] The travel processing unit 111 controls the travel of the combine harvester 1. For example, when the travel mode of the combine harvester 1 is manual travel (manual travel mode), the travel processing unit 111 manually travels the combine harvester 1 based on the operation (manual steering) of the operator. For example, the travel processing unit 111 acquires operation information corresponding to driving operations such as steering operation, gear shift operation, travel direction switching operation, and brake operation by the operator, and causes the travel unit 2 to perform a travel operation based on the operation information.

[0059] Furthermore, when the traveling mode of the combine harvester 1 is automatic traveling (automatic traveling mode), the traveling processing unit 111 automatically travels the combine harvester 1 based on position information (positioning information) indicating the current position of the combine harvester 1 measured by the positioning unit 52. For example, when the combine harvester 1 satisfies the start condition for automatic traveling and acquires a traveling start instruction from the operator, the traveling processing unit 111 starts automatic traveling of the combine harvester 1 based on the positioning information. Furthermore, the traveling processing unit 111 automatically travels the combine harvester 1 according to a target route R generated in advance. For example, when the combine harvester 1 satisfies the start condition for automatic traveling and the operator presses the automatic traveling instruction unit 31 of the operation device 30, the traveling processing unit 111 acquires the traveling start instruction and automatically travels the combine harvester 1 along the straight route (work route) of the target route R.

[0060] In addition, the travel processing unit 111 switches the travel mode to manual travel when the combine 1 reaches the target end position of the work path. The travel processing unit 111 may switch the travel mode to manual travel when it is determined that the combine 1 has reached the target end position of the work path, or may switch the travel mode to manual travel in response to an operation by the operator. When the travel mode is switched to manual travel, for example, the operator makes the combine 1 turn (manual travel) by manual steering. The target end position of each work path may be a position that is a predetermined distance inward from the edge of the field F, a position that is designated in advance by the operator, a position that is aligned with the position where the operator switched from automatic travel to manual travel on the immediately previous worked path (a position where a line that passes through the position where the switch was made to manual and is perpendicular to the worked path intersects with the work path, or a position where a line that passes through the position where the switch was made to manual and is parallel to the edge of the field F intersects with the work path), a position where a line that passes through the end point (point B) of the reference line intersects with the work path, and the like. When the combine harvester 1 approaches or reaches the target end position, the control device 11 may notify the operator by voice, display information, etc., to prompt the operator to switch to manual driving.

[0061] Furthermore, during the reaping operation, the travel processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 52, and controls the travel unit 2, the reaping unit 3, and the power unit 8 so that the combine harvester 1 performs automatic travel and reaping operation along the work path based on the vehicle position and the work path included in the target route R. For example, as shown in Fig. 5, the travel processing unit 111 causes the combine harvester 1 to perform automatic travel and reaping operation along the outer periphery from the start position S in the outer periphery area F1, and then causes the combine harvester 1 to perform automatic travel and reaping operation to the end position G in the inner periphery area F2.

[0062] As described above, the driving processing unit 111 switches the driving mode in response to, for example, an operation by an operator, and causes the combine 1 to perform automatic driving and reaping work by automatic steering, and to manually drive by manual steering.

[0063] The generation processing unit 112 generates a target route R along which the combine harvester 1 is to automatically travel. Specifically, the generation processing unit 112 generates (sets) a reference line (reference orientation) for the field F in response to an operation by an operator, and generates the target route R based on the generated reference line.

[0064] Here, an example of a method for generating a reference line using the operation device 30 will be described with reference to Figs. 8A to 8E. When generating a first reference line, the operator presses the reference line operation unit 33a of the operation device 30. This causes the reference line display unit 34a to light up (see Fig. 8A). When the operator moves the combine harvester 1 to an arbitrary position (for example, an end) in the field F, the operator presses the start point setting unit 35 (see Fig. 8A). The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the start point setting unit 35 is pressed as the start point of the reference line (first start point A1 in Fig. 9A). When the generation processing unit 112 registers the first start point A1, the start point setting display unit 37 lights up an LED (see Fig. 8B). After that, the operator manually drives the combine harvester 1 and presses the end point setting unit 36 ​​at an arbitrary position (for example, an end) (see Fig. 8C). The generation processing unit 112 registers the position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line (first end point B1 in FIG. 9A). When the generation processing unit 112 registers the first end point B1, the end point setting display unit 38 and the automatic travel display unit 32 each turn on an LED (see FIG. 8D).

[0065] When the generation processing unit 112 registers the first starting point A1 and the first ending point B1, it generates a straight line connecting the first starting point A1 and the first ending point B1, and registers the generated straight line as a first reference line (first reference line L1 (see FIG. 9A)). The generation processing unit 112 stores the generated first reference line L1 in the storage unit 51. The generation processing unit 112 also registers (sets) the first reference line L1 in association with the reference line operation unit 33a. In the present invention, the "reference line" may be a "reference orientation", and "line" and "orientation" are synonymous. The "orientation" may be specified by a direction or a numerical value. The generation processing unit 112 may generate a reference orientation (numerical value) and store it in the storage unit 51.

[0066] As described above, the generation processing unit 112 generates a reference line (reference orientation) based on the start point and end point set in the field F. When the reference line (here, the first reference line L1) is registered, for example, when the operator presses the reference line operation unit 33a, the start point setting display unit 37 and the end point setting display unit 38 are turned on in the operation device 30. That is, when the operator presses the reference line operation unit 33a, the start point setting display unit 37 and the end point setting display unit 38 are turned on, so that the operator can recognize that the reference line has been registered in the reference line operation unit 33a. In this embodiment, the operator can generate a second reference line corresponding to the reference line operation unit 33b in the same manner as the first reference line. Note that, if the second reference line is not registered, when the operator presses the reference line operation unit 33b, the start point setting display unit 37 and the end point setting display unit 38 are turned off (see FIG. 8E).

[0067] In the present invention, the method of generating the first reference line L1 is not limited to the above-mentioned method. For example, the control device 11 may generate the first reference line L1 (reference orientation) based on the azimuth angle (vehicle azimuth angle) of the combine harvester 1. Specifically, when the operator performs an operation to register the start point A (pressing the start point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the start point A, and registers a straight line that passes through the start point A and extends in the direction of the current orientation (vehicle orientation) of the combine harvester 1 as the first reference line L1.

[0068] As another method, the control device 11 may generate the first reference line L1 (reference azimuth) based on an azimuth angle (set azimuth angle) set by an operator. Specifically, when the operator inputs an angle relative to the reference azimuth (for example, north) on a setting screen (not shown) and further performs an operation to register the start point A (pressing the start point setting unit 35), the control device 11 registers the position (current position) of the combine harvester 1 as the start point A, and registers a straight line that passes through the start point A and extends in the direction of the input angle (set azimuth angle) as the first reference line L1.

[0069] As another method, when the outline of the field F is registered, the control device 11 may generate the first reference line L1 (reference orientation) based on any of the outline sides of the field F. For example, when the outline of the field F having a rectangular shape is registered, the control device 11 registers a straight line parallel to the right side of the left side, right side, top side, and bottom side of the rectangle as the first reference line L1.

[0070] As described above, the control device 11 may employ any of the following methods: a method of generating the first reference line L1 based on the start point A and the end point B (first generation mode), a method of generating the first reference line L1 based on the start point A and the vehicle azimuth angle (second generation mode), a method of generating the first reference line L1 based on the start point A and a set azimuth angle (third generation mode), and a method of generating the first reference line L1 based on the outline of the field F (fourth generation mode). Furthermore, the control device 11 may generate the first reference line L1 using a generation mode selected by the operator from among the first to fourth generation modes, or may generate the first reference line L1 using a generation mode selected based on work information, etc.

[0071] The generation processing unit 112 can automatically generate the second reference line L2 based on the first reference line L1. Specifically, when the generation processing unit 112 generates the first reference line L1, it generates a straight line perpendicular to the first reference line L1 as the second reference line L2. For example, as shown in FIG. 9A, the generation processing unit 112 generates an orthogonal line that passes through the first end point B1 and forms an angle D1 of 90 degrees with the first reference line L1 as the second reference line L2. The generation processing unit 112 stores the generated second reference line L2 in the storage unit 51. As a result, for example, for a rectangular farm field F, the operator only needs to perform a registration operation of the first reference line L1 along one side (the left and right sides in FIG. 9A), and the second reference line L2 along the other side (the top and bottom sides in FIG. 9A) can be automatically generated and registered.

[0072] The generation processing unit 112 may register the second reference line L2 in association with the reference line operation unit 33b (see FIG. 7).

[0073] In another embodiment, the generation processing unit 112 may generate as the second reference line L2 a straight line that follows the outer shape of the field F (work area). For example, the generation processing unit 112 calculates the angle D1 based on the outer shape of the field F, and generates the second reference line L2 based on the angle D1 and the first reference line L1.

[0074] In addition, as another embodiment, the generation processing unit 112 may receive an input operation of the angle D1 from the operator, and generate the second reference line L2 based on the input angle D1 and the first reference line L1.

[0075] The generation processing unit 112 stores the first reference line L1 and the second reference line L2 in the storage unit 51 in a selectable manner. When the control device 11 starts automatic travel of the combine harvester 1, the control device 11 selects either the first reference line L1 or the second reference line L2 based on the selection operation of the operator, or the position information or vehicle direction of the combine harvester 1. The generation processing unit 112 generates an automatic travel route (target route) based on the selected first reference line L1 or second reference line L2. For example, when the operator selects the reference line operation unit 33a (see FIG. 7) corresponding to the first reference line L1, the generation processing unit 112 generates an automatic travel route (target route) based on the first reference line L1. When the generation mode of the target route is set to the "equal pitch mode", as shown in FIG. 9A, the generation processing unit 112 generates a target route R1 consisting of a plurality of straight lines parallel to the first reference line L1. The generation processing unit 112 generates a plurality of parallel straight lines at equal intervals based on the first reference line L1, based on the preset working width and lap width (width overlapping with adjacent worked areas). The generation processing unit 112 stores the generated target route R1 in the storage unit 51. When the operator presses the automatic travel instruction unit 31 in a state where the vehicle orientation and position deviation (lateral deviation amount) of the combine 1 are within a predetermined range with respect to any of the generated parallel straight lines (a state where the start condition is satisfied), the travel processing unit 111 starts automatic travel and causes the combine 1 to travel straight along the target route R1 (see FIG. 10). The target route R1 shown in FIG. 10 corresponds to any one of the parallel straight lines generated based on the first reference line L1.

[0076] When the combine harvester 1 reaches the target end position of the target route R1 (straight route), the operator switches to the manual driving mode to manually drive the combine harvester 1. The driving processing unit 111 may switch the driving mode to the manual driving mode when the combine harvester 1 reaches the target end position of the straight route or when the reaping unit 3 rises to the non-working position. When the driving mode is switched to the manual driving mode, for example, as shown in FIG. 10, the operator manually drives the combine harvester 1 and aligns the vehicle orientation so that it faces the direction of the second reference line L2 (left direction in FIG. 10), and selects the second reference line L2. The generation processing unit 112 generates an automatic driving route (target route) based on the second reference line L2. For example, when the generation mode of the target route is set to the "equal pitch mode", the generation processing unit 112 generates a target route R2 consisting of a plurality of straight lines parallel to the second reference line L2, as shown in FIG. 9B. The generation processing unit 112 stores the generated target route R2 in the storage unit 51. When the operator presses the automatic driving instruction unit 31 with the vehicle orientation and position deviation (lateral deviation amount) of the combine harvester 1 being within a predetermined range with respect to any one of the multiple parallel straight lines generated (a state where the start condition is satisfied), the driving processing unit 111 starts automatic driving and drives the combine harvester 1 straight along the target route R2 (see FIG. 10). Note that the target route R2 shown in FIG. 10 corresponds to any one of the multiple parallel straight lines generated based on the second reference line L2. Also, "P1" in FIG. 10 indicates the starting point where automatic driving started.

[0077] Here, depending on the shape of the field F, the working conditions of the work object (here, stalks), etc., it may be desired to make the combine harvester 1 travel along a path that is offset from the target path R2. In this case, the operator can perform an operation (path offset operation) to shift the target path R2 in the left / right direction using an operating tool while making the combine harvester 1 automatically travel along the target path R2. As a result, for example, as shown in FIG. 10, the operator can move the combine harvester 1 to a position P2 that is offset from the target end position P0 corresponding to the target path R2.

[0078] In this way, when the operator performs an operation to shift the travel route of the combine harvester 1 relative to the target route R2 corresponding to the second reference line L2 generated in advance, there is a high possibility that the shifted route is the route intended by the operator. That is, in the above example, it is appropriate to set a target route for automatic travel based on the first reference line L1 when the combine harvester 1 travels in the first direction (up and down direction in FIG. 9A) of the field F, and for automatic travel based on a route in which the orientation of the second reference line L2 is changed when the combine harvester 1 travels in the second direction (left and right direction in FIG. 9A) of the field F.

[0079] As described above, in the conventional technology, when the second reference line L2 is changed, it is time-consuming to perform a re-registration operation using the operation device 30. In addition, when the first reference line L1 is re-registered to change the second reference line L2, a problem occurs that the first reference line L1 is also changed. Therefore, the correction processing unit 113 is configured to correct the second reference line L2 when a predetermined correction operation is received when the combine harvester 1 automatically travels based on the second reference line L2.

[0080] Specifically, when the operator performs an operation (correction operation) to correct the path of the combine harvester 1 when the combine harvester 1 automatically travels along the target path R2 corresponding to the second reference line L2, the correction processing unit 113 corrects the second reference line L2 to a straight line (corrected reference line L21) passing through the starting point P1 and the ending point P2 in response to the correction operation (see FIG. 10). That is, when the correction processing unit 113 receives the correction operation, it changes the orientation of the second reference line L2 to an orientation according to the correction operation. The correction processing unit 113 may store the corrected reference line L21 in the storage unit 51 instead of the second reference line L2, or may store the corrected reference line L21 together with the second reference line L2 in the storage unit 51. For example, the correction processing unit 113 registers the corrected reference line L21 in association with the reference line operation unit 33b (see FIG. 7).

[0081] In addition, in the case of a configuration in which three or more reference lines (for example, a first reference line L1, a second reference line L2, and a corrected reference line L21) are selectably stored, the operation device 30 may be provided with an operation unit corresponding to each reference line. This allows the operator to select a desired reference line from the three or more reference lines on the operation device 30 and execute automatic traveling. That is, the control device 11 stores the first reference line L1, the second reference line L2, and the corrected reference line L21 obtained by correcting the second reference line L2, and generates a target route based on the reference line selected when the combine harvester 1 starts automatic traveling.

[0082] The correction operation includes at least one of an operation (route offset operation) of shifting a route (target route R2) corresponding to the second reference line L2 while the combine harvester 1 is automatically traveling based on the second reference line L2, an operation of registering an end point while the combine harvester 1 is automatically traveling based on the second reference line L2 (pressing the end point setting unit 36 ​​(point B registration operation)), an operation of terminating the automatic traveling based on the second reference line L2, and an operation of moving the working unit (cutting unit 3) to a non-working position while the combine harvester 1 is automatically traveling based on the second reference line L2 and working.

[0083] For example, if an operator performs a route offset operation while the combine 1 is automatically traveling along the target route R2 corresponding to the second reference line L2, and then presses the end point setting unit 36 ​​(see Figure 7) of the operation device 30 after the automatic traveling ends, the correction processing unit 113 generates a straight line (corrected reference line L21) connecting the vehicle position of the combine 1 at that time (end point P2) and the start point P1.

[0084] For example, if an operator performs a route offset operation while the combine 1 is automatically traveling along the target route R2 corresponding to the second reference line L2, and then, after the automatic traveling ends, the operator performs an operation to raise the harvesting unit 3 to a non-working position, the correction processing unit 113 generates a straight line (corrected reference line L21) connecting the combine 1's own vehicle position at that time (end point P2) and the start point P1.

[0085] The correction processing unit 113 registers the generated corrected reference line L21 as a reference line corresponding to the reference line operation unit 33b. This allows the operator to select the corrected reference line L21 by pressing the reference line operation unit 33b (see FIG. 7) the next time the combine harvester 1 starts automatic travel (automatic travel in the left-right direction). When the corrected reference line L21 is selected, the generation processing unit 112 generates a target route consisting of multiple straight lines parallel to the corrected reference line L21. This allows the combine harvester 1 to automatically travel according to the corrected target route.

[0086] As described above, the control device 11 generates the first reference line L1 in response to the operation of the operator, and automatically generates the second reference line L2 based on the first reference line L1, and executes a process to correct the second reference line L2 when a predetermined correction operation is received when the combine harvester 1 automatically travels along the second reference line L2. As another embodiment, the control device 11 may generate the first reference line L1 and the second reference line L2 in response to the operation of the operator, and execute a process to correct the second reference line L2 when a predetermined correction operation is received when the combine harvester 1 automatically travels along the second reference line L2. Also, as another embodiment, in each of the above configurations, the control device 11 may execute a process to correct the first reference line L1 when a predetermined correction operation is received when the combine harvester 1 automatically travels along the first reference line L1.

[0087] In the above embodiment, the configuration in which the generation mode of the target route is set to the "equal pitch mode" has been described, but in another embodiment, the generation mode of the target route may be set to the "own vehicle position reference mode". Below, a specific example of the start procedure of the automatic driving in the case where the target route is generated in the "own vehicle position reference mode" will be described.

[0088] First, the control device 11 generates and registers the reference line L by the above-mentioned method (first generation mode to fourth generation mode). Next, the control device 11 selects the reference line L. For example, when a plurality of reference lines L (for example, the first reference line L1, the second reference line L2, etc.) are registered, the control device 11 selects one of the reference lines L based on the selection operation of the operator or the position information or vehicle direction of the combine harvester 1. Next, the control device 11 generates a path (for example, a straight path) (parallel line) parallel to the selected reference line L, and sets the generated path as the current position (reference point) of the combine harvester 1. Note that when the path is set as the reference point, for example, when the combine harvester 1 moves due to manual steering by the operator, the path moves parallel to the reference line L so as to follow the reference point. Next, the operator manually drives the combine harvester 1 so that the vehicle direction of the combine harvester 1 is within a predetermined range with respect to the path (satisfying the start condition for automatic driving). When the operator presses the automatic driving instruction unit 31 while the combine harvester 1 satisfies the conditions for starting automatic driving, the control device 11 sets the route at that position as the target route R, and causes the combine harvester 1 to start automatic driving according to the target route R. In the above process, an icon image imitating the combine harvester 1 and an image of one of the routes (parallel line) parallel to the reference line L may be displayed on the display screen.

[0089] Another example of the procedure for starting automatic driving will be described. For example, after the control device 11 generates and selects the reference line L in the same manner as in the above example, the operator manually drives the combine harvester 1 so that the vehicle orientation of the combine harvester 1 is within a predetermined range with respect to the reference line L (satisfying the conditions for starting automatic driving). Next, when the operator presses the automatic driving instruction unit 31 in a state in which the combine harvester 1 satisfies the conditions for starting automatic driving, the control device 11 generates a path (for example, a straight path) (parallel line) that is parallel to the reference line L and passes through the current position (reference point) of the combine harvester 1, sets the generated path as the target path R, and starts automatic driving of the combine harvester 1 according to the target path R.

[0090] [Driving processing] Hereinafter, with reference to FIG. 11, an example of the driving process executed by the driving system according to the first embodiment will be described.

[0091] The present invention can be understood as an invention of a traveling method that executes one or more steps included in the traveling process. One or more steps included in the traveling process described here may be omitted as appropriate. The steps in the traveling process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control device 11 of the combine 1 executes each step in the traveling process, another embodiment can also be a traveling method in which one or more processors execute each step in the traveling process in a distributed manner. The traveling method corresponding to the traveling process is one example of a route generation method of the present invention.

[0092] In step S11, the control device 11 determines whether the combine harvester 1 is in an automatic traveling state. If the control device 11 determines that the combine harvester 1 is in an automatic traveling state (S11: Yes), the control device 11 shifts the process to step S12. The control device 11 waits until the combine harvester 1 is in an automatic traveling state (S11: No).

[0093] In step S12, the control device 11 causes the combine harvester 1 to start automatic travel according to the target route R. For example, when the operator selects the reference line operation unit 33a (see FIG. 7) corresponding to the first reference line L1, the control device 11 generates an automatic travel route (target route R1) (see FIG. 9A) based on the first reference line L1, and causes the combine harvester 1 to travel straight along the target route R1 (see FIG. 10). The control device 11 generates the first reference line L1 by any of the first to fourth generation modes described above. Also, for example, when the generation mode of the target route is set to the "equal pitch mode", the control device 11 generates a plurality of straight lines parallel to the first reference line L1, and when the operator presses the automatic travel instruction unit 31 in a state where the vehicle orientation and position deviation (lateral deviation amount) of the combine harvester 1 are within a predetermined range with respect to any of the generated parallel straight lines (a state where the start condition is satisfied), the control device 11 starts automatic travel and causes the combine harvester 1 to travel straight along the target route R1 (see FIG. 10).

[0094] When the target route generation mode is set to the "vehicle position reference mode," for example, when an operator selects the first reference line L1, the control device 11 generates a straight line (target route R1) that passes through the vehicle position of the combine 1 and is parallel to the first reference line L1, and when the operator presses the automatic driving instruction unit 31 when the combine 1 meets the conditions for starting automatic driving, automatic driving is started and the combine 1 is caused to drive straight according to the target route R1.

[0095] Next, in step S13, the control device 11 determines whether or not to cause the combine harvester 1 to start automatic travel according to the second reference line L2. For example, when the combine harvester 1 reaches the target end position of the target route R1 (straight route), the operator switches to manual travel mode and manually travels the combine harvester 1. For example, as shown in FIG. 10, the operator manually travels the combine harvester 1, aligns the vehicle orientation so that it faces the direction of the next route (leftward in FIG. 10), and selects the second reference line L2. The control device 11 generates a target route R2 (see FIG. 9B) based on the second reference line L2, and travels the combine harvester 1 straight according to the target route R2 (see FIG. 10).

[0096] For example, when the target route generation mode is set to "equal pitch mode," the control device 11 generates multiple straight lines parallel to the second reference line L2, and when the operator presses the automatic driving instruction unit 31 when the vehicle orientation and position deviation (lateral deviation amount) of the combine 1 are within a predetermined range relative to any of the generated multiple parallel straight lines (when the start condition is satisfied), automatic driving is started and the combine 1 is caused to drive straight along the target route R2 (see Figure 10).

[0097] When the target route generation mode is set to "own vehicle position reference mode", for example, when an operator selects the second reference line L2, the control device 11 generates a straight line (target route R2) that passes through the own vehicle position of the combine harvester 1 and is parallel to the second reference line L2, and when the operator presses the automatic driving instruction unit 31 with the combine harvester 1 satisfying the conditions for starting automatic driving, the control device 11 starts automatic driving and makes the combine harvester 1 travel straight along the target route R2. When the control device 11 does not want the combine harvester 1 to start automatic driving according to the second reference line L2 (S13: No), it shifts the process to step S16.

[0098] In step S14, the control device 11 determines whether or not a correction operation has been accepted. The correction operation includes at least one of a route offset operation, a point B registration operation, an operation to end automatic traveling, and an operation to raise the reaping unit 3. If the control device 11 accepts the correction operation (S14: Yes), it shifts the process to step S15. On the other hand, if the control device 11 does not accept the correction operation (S14: No), it shifts the process to step S16.

[0099] In step S15, the control device 11 corrects the second reference line L2. Specifically, the control device 11 changes the orientation of the second reference line L2 in response to the correction operation. For example, when the operator performs a route offset operation while the combine harvester 1 is automatically traveling along the target route R2 corresponding to the second reference line L2, and presses the end point setting unit 36 ​​(see FIG. 7) of the operation device 30 after the automatic traveling ends, the control device 11 generates a straight line (corrected reference line L21) connecting the vehicle position (end point P2) of the combine harvester 1 at that time and the position (start point P1) where the combine harvester 1 started the automatic traveling.

[0100] The control device 11 may delete the second reference line L2 and store the corrected reference line L21 in the storage unit 51, or may store the second reference line L2 and store the corrected reference line L21 in the storage unit 51. The control device 11 may also register the corrected reference line L21 as a reference line corresponding to the reference line operation unit 33b (see FIG. 7). That is, the control device 11 registers the first reference line L1 in association with the reference line operation unit 33a of the operation device 30 (see FIG. 7), and registers the corrected reference line L21 in association with the reference line operation unit 33b of the operation device 30. As another embodiment, the control device 11 may register a reference line selected by the operator from the second reference line L2 and the corrected reference line L21 in association with the reference line operation unit 33b. In another embodiment, when the operating device 30 has three reference line setting units, the control device 11 may register the first reference line L1, the second reference line L2, and the corrected reference line L21 in correspondence with each reference line setting unit.

[0101] In step S16, the control device 11 determines whether the combine harvester 1 has finished working. If the control device 11 determines that the combine harvester 1 has finished working (S16: Yes), it ends the travel processing. If the control device 11 determines that the combine harvester 1 has not finished working (S16: No), it returns to step S13 and executes the above-mentioned processing.

[0102] For example, when an operator selects the reference line operation unit 33b corresponding to the corrected reference line L21 and presses the automatic driving instruction unit 31, the control device 11 causes the combine 1 to drive straight along the target route corresponding to the corrected reference line L21.

[0103] The control device 11 repeatedly executes the processes of steps S13 to S15 described above until the combine harvester 1 finishes work. Note that, when the control device 11 receives the correction operation when the combine harvester 1 automatically travels based on the corrected reference line L21, the control device 11 may correct the corrected reference line L21 according to the above-mentioned process.

[0104] As described above, the combine harvester 1 according to the first embodiment generates a target route for automatic travel based on a reference line set in the field F. The combine harvester 1 also generates a first reference line L1 set in the field F, and generates a second reference line L2 based on the first reference line L1. The combine harvester 1 also corrects the second reference line L2 when a predetermined correction operation is received during automatic travel based on the second reference line L2.

[0105] According to the above configuration, when a predetermined correction operation is performed when the combine harvester 1 automatically travels based on the second reference line L2 that is automatically generated based on the first reference line L1 that is generated according to the setting operation of the operator, the second reference line L2 is corrected. As a result, for example, when the operator corrects the traveling position by shifting the route while the combine harvester 1 is automatically traveling according to the second reference line L2, the second reference line L2 can be automatically corrected. Therefore, it is not necessary for the operator to perform an operation of regenerating the reference line (see Figs. 8A to 8D) in order to correct the second reference line L2. Therefore, it is possible to easily generate a target route for automatically traveling the combine harvester 1.

[0106] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0107] As another embodiment of the present invention, the control device 11 may generate a target route based on the distance between the current position of the combine 1 and the reference line. FIG. 12 shows a second reference line L2 and a corrected reference line L21 generated in advance. For example, when the combine 1 is located at a position less than a predetermined distance E1 (for example, 5 m) from the corrected reference line L21 and the vehicle orientation of the combine 1 is less than a predetermined orientation with respect to the orientation of the corrected reference line L21, if an operator issues an instruction to start automatic traveling, the control device 11 generates a target route based on the corrected reference line L21. On the other hand, when the combine 1 is located at a position equal to or more than the predetermined distance E1 from the corrected reference line L21 and the vehicle orientation of the combine 1 is less than a predetermined orientation with respect to the orientation of the second reference line L2, if an operator issues an instruction to start automatic traveling, the control device 11 generates a target route based on the second reference line L2. The control device 11 may generate a target route based on the vehicle orientation of the combine 1. For example, when the vehicle orientation of the combine harvester 1 is less than a predetermined orientation with respect to the orientation of the corrected reference line L21 and an operator issues an instruction to start automatic traveling, the control device 11 generates a target route based on the corrected reference line L21, and when the vehicle orientation of the combine harvester 1 is equal to or greater than a predetermined orientation with respect to the orientation of the corrected reference line L21 and an operator issues an instruction to start automatic traveling, the control device 11 generates a target route based on the second reference line L2. The control device 11 may also set a weight on at least one of the current position of the combine harvester 1, the distance to the reference line, and the vehicle orientation of the combine harvester 1, and generate a target route based on a reference line selected according to the set weight.

[0108] 13 shows an example of a traveling method of the combine harvester 1. For example, the combine harvester 1 automatically travels along a work path r1 according to a target path R1 corresponding to the first reference line L1, automatically travels along a work path r2 according to a target path corresponding to the corrected reference line L21, automatically travels along a work path r3 according to the target path R1 corresponding to the first reference line L1, and automatically travels along a work path r4 according to a target path R2 corresponding to the second reference line L2.

[0109] Also, for example, when the control device 11 receives the correction operation when the combine harvester 1 automatically travels along the work path r2, the control device 11 may execute a process of further correcting the corrected reference line L21. In this case, the control device 11 may delete the initially corrected corrected reference line L21 and store the re-corrected corrected reference line L21 in the storage unit 51, or may store both the corrected reference lines L21 before and after the correction in the storage unit 51 in a selectable manner.

[0110] 14, for example, it is desirable for the control device 11 to generate corrected reference lines L21 with different orientations on the upper side and the lower side of the field F. In this case, the control device 11 generates two corrected reference lines L21 with different orientations based on the second reference line L2, and stores each of them in the storage unit 51 so as to be selectable.

[0111] As another embodiment, for example, in a field F shown in FIG. 14, when the combine harvester 1 works left and right in the upper area in the figure and then works left and right in the lower area, the control device 11 may automatically drive the combine harvester 1 based on the corrected reference line L21 or the second reference line L2 in the upper area, as shown in FIG. 15, and automatically drive the combine harvester 1 based on the corrected reference line L22 or the second reference line L2 in the lower area.

[0112] As shown in FIG. 15, when multiple corrected reference lines L21, L22 are registered, the control device 11 selects a reference line based on the distance and direction of the combine 1 relative to each reference line to generate a target route.

[0113] As another embodiment, information according to the generation mode of the target route ("equal pitch mode", "own vehicle position reference mode") may be displayed on the display unit (such as the operation terminal). For example, in the equal pitch mode, the control device 11 may display a reference line selected from all the reference lines and a route (target route) parallel to the reference line, or may display all the reference lines and a route (target route) parallel to the selected reference line, or may display all the reference lines and all the routes (target routes) parallel to each reference line. When simultaneously displaying all the reference lines and all the routes corresponding to each reference line, the control device 11 may display the selected reference line and the route (target route) generated based on the selected reference line in a different manner (for example, line color, line type, etc.) from the other reference lines and routes.

[0114] Also, for example, in the vehicle position reference mode, the control device 11 may display only the selected reference line among all the reference lines, or may display all the reference lines and make the display method (e.g., line color, line type, etc.) of the selected reference line different from that of the unselected reference line. Also, in the vehicle position reference mode, the control device 11 may display the route on the display unit after the operator presses the automatic driving instruction unit 31 to confirm the route, or may constantly display a route parallel to the reference line based on the vehicle position even before the automatic driving instruction unit 31 is pressed. In this case, the control device 11 may further change the color of the route displayed on the display unit before and after the automatic driving instruction unit 31 is pressed.

[0115] [Embodiment 2] A description will be given of a traveling system according to the second embodiment of the present invention. In the following, the same components as those in the traveling system and the combine harvester 1 according to the first embodiment will be given the same reference numerals, and the description thereof will be omitted as appropriate.

[0116] The combine harvester 1 of the second embodiment is configured to generate multiple reference lines having different orientations, and when a setting operation for a new reference line is received after the multiple reference lines have been generated, identify a reference line to be corrected from among the multiple reference lines, and correct the identified reference line to a position according to the setting operation.

[0117] Specifically, the generation processing unit 112 generates a plurality of reference lines in different orientations according to the operation of the operator. For example, the generation processing unit 112 generates a first reference line L1 based on the operation of the operation device 30 by the operator (operation to register the first start point A1 and the first end point B1). The generation processing unit 112 also generates a second reference line L2 based on the first reference line L1. For example, the generation processing unit 112 generates the second reference line L2 that is perpendicular to the first reference line L1.

[0118] The generation processing unit 112 generates the first reference line L1 and the second reference line L2 and stores them in the storage unit 51, and then receives an operation for generating the reference lines on the operation device 30 from the operator.

[0119] For example, in the case of the first generation mode in which a reference line is generated based on the registration operation of the start point A and the end point B, as shown in Figs. 16A to 16D, the operator operates the operation device 30 to perform the registration operation of a new reference line, similar to the first reference line L1. For example, the operator presses the reference line operation unit 33b of the operation device 30. This causes the reference line display unit 34b to light up (see Fig. 16A). When the operator moves the combine harvester 1 to an arbitrary position (for example, an end) in the field F, he presses the start point setting unit 35 (see Fig. 16A). The generation processing unit 112 registers the vehicle position of the combine harvester 1 when the start point setting unit 35 is pressed as the start point of the reference line (the second start point A2 in Fig. 17). When the generation processing unit 112 registers the second start point A2, the start point setting display unit 37 turns on the LED (see Fig. 16B). Thereafter, the operator manually drives the combine harvester 1 and presses the end point setting unit 36 ​​at any position (for example, an end portion) (see FIG. 16C). The generation processing unit 112 registers the position of the combine harvester 1 when the end point setting unit 36 ​​is pressed as the end point of the reference line (the second end point B2 in FIG. 17). When the generation processing unit 112 registers the second end point B2, the end point setting display unit 38 and the automatic driving display unit 32 each turn on an LED (see FIG. 16D).

[0120] When the second start point A2 and the second end point B2 are registered, the generation processing unit 112 generates a straight line connecting the second start point A2 and the second end point B2 as a new reference line. Note that the method of generating the new reference line is not limited to this, and as described above, the generation processing unit 112 may generate the reference line using the second generation mode in which the reference line is generated based on the start point A and the vehicle azimuth angle, the third generation mode in which the reference line is generated based on the start point A and a set azimuth angle, or the fourth generation mode in which the reference line is generated based on the outer shape of the field F.

[0121] Here, the correction processing unit 113 changes one of the already generated first reference line L1 and second reference line L2 to the position of the new reference line. Specifically, when a setting operation of a new reference line accepted after the generation of multiple reference lines satisfies a predetermined condition, the correction processing unit 113 identifies at least one of the multiple reference lines to be corrected, and corrects the identified reference line to a position according to the setting operation. For example, the correction processing unit 113 corrects the orientation of at least one of the first reference line L1 and second reference line L2 based on the orientation of the new reference line.

[0122] Specifically, when the angle D2 between the second reference line L2 and the new reference line is less than a predetermined angle, the correction processing unit 113 corrects the second reference line L2 to the position of the new reference line. In other words, when the angle between the first reference line L1 and the new reference line is equal to or greater than a predetermined angle, the correction processing unit 113 corrects the second reference line L2 to the position of the new reference line. For example, as shown in FIG. 17, when the angle D2 between the second reference line L2 and the new reference line La is less than a predetermined angle Dth (for example, 45 degrees), the correction processing unit 113 corrects the second reference line L2 to the position of the reference line La. That is, the correction processing unit 113 registers a straight line connecting the second starting point A2 and the second ending point B2 as the second reference line L2. The correction processing unit 113 stores the corrected second reference line L2 in the storage unit 51 and registers it in association with the reference line operation unit 33b (see FIG. 7).

[0123] 18, when the angle D2 between the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth, the correction processing unit 113 corrects the first reference line L1 to the position of the new reference line. That is, the correction processing unit 113 registers a straight line connecting the second starting point A2 and the second ending point B2 as the first reference line L1. The correction processing unit 113 stores the corrected first reference line L1 in the storage unit 51, and registers it in association with the reference line operation unit 33a (see FIG. 7).

[0124] In this way, when a setting operation for a new reference line is received after multiple reference lines have been generated, the correction processing unit 113 identifies a reference line to be corrected from among the multiple reference lines, and corrects the identified reference line to a position according to the setting operation. Furthermore, the correction processing unit 113 corrects the reference line having the smaller azimuth difference from the new reference line from among the multiple reference lines.

[0125] According to the above configuration, for example, if the control device 11 is configured to be able to register two reference lines and two reference lines have already been registered, when the operator performs an operation to register a third reference line, the reference line to be corrected out of the two reference lines is automatically identified and the reference line is changed to a position according to the registration operation. This allows the operator to easily change the reference lines, making it possible to easily generate a target route for the combine harvester 1 to travel automatically.

[0126] In another embodiment, the correction processing unit 113 may accept an operation to select whether to correct the first reference line L1 to the position of the new reference line La or to register the new reference line La as a third reference line (third reference line L3) when the angle D2 between the second reference line L2 and the new reference line La is greater than or equal to a predetermined angle Dth.

[0127] In another embodiment, the correction processing unit 113 may register the new reference line La as the third reference line L3 when the angle D2 between the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth. For example, when the angle D2 between the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth and the distance X1 between the first reference line L1 and the new reference line La is less than a predetermined distance, the correction processing unit 113 corrects the first reference line L1 to the position of the new reference line La as described above (see FIG. 18). On the other hand, when the angle D2 between the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth and the distance X1 between the first reference line L1 and the new reference line La is equal to or larger than a predetermined distance, the correction processing unit 113 registers (sets) the reference line La as the third reference line L3 as shown in FIG. 19.

[0128] As another embodiment, for example, in the example shown in FIG. 18, when the first reference line L1 and the second reference line L2 have been generated and the combine 1 has automatically driven at least once according to the target route R2 corresponding to the second reference line L2, and then the operator performs an operation to register a new reference line La, the correction processing unit 113 determines that the second reference line L2 is the route intended by the operator, corrects only the first reference line L1 to the position of the reference line La, and maintains the second reference line L2 without correction from the position perpendicular to the first reference line L1 that was initially set.

[0129] On the other hand, when the operator performs an operation to register a new reference line La before the combine harvester 1 automatically travels along the target route R2 corresponding to the second reference line L2 in a state in which the first reference line L1 and the second reference line L2 have been generated, the correction processing unit 113 determines that the first reference line L1 and the second reference line L2 are not the routes intended by the operator, corrects the first reference line L1 to the position of the reference line La, and regenerates (corrects) the second reference line L2 perpendicular to the corrected first reference line L1. In this way, when the correction processing unit 113 receives a setting operation for a new reference line after a plurality of reference lines have been generated, it may specify all of the plurality of reference lines as a reference line to be corrected, and correct each reference line to a position corresponding to the setting operation. That is, in the present invention, when the correction processing unit 113 receives a setting operation for a new reference line after a plurality of reference lines have been generated, it may specify at least one of the plurality of reference lines as a reference line to be corrected, and correct the specified at least one reference line to a position corresponding to the setting operation.

[0130] [Route generation process] Hereinafter, an example of a route generation process executed by the traveling system according to the second embodiment will be described with reference to FIG.

[0131] The present invention can be understood as an invention of a route generation method that executes one or more steps included in the route generation process. One or more steps included in the route generation process described here may be omitted as appropriate. The steps in the route generation process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control device 11 of the combine 1 executes each step in the route generation process, another embodiment may be a route generation method in which one or more processors execute each step in the route generation process in a distributed manner. The storage unit 51 stores a route generation program for causing the control device 11 to execute the route generation process. The route generation method corresponding to the route generation process is an example of the route generation method of the present invention.

[0132] In step S21, the control device 11 determines whether or not a route generation start instruction has been received. If the control device 11 receives a route generation start instruction (S21: Yes), the control device 11 shifts the process to step S22. The control device 11 waits until the route generation start instruction is received (S21: No).

[0133] In step S22, the control device 11 judges whether or not a registration operation of the first starting point A1 and the first ending point B1 has been accepted. For example, the worker presses the reference line operation unit 33a of the operation device 30 to start route generation and registers the first starting point A1 and the first ending point B1 (see Figs. 8A to 8D). When the control device 11 accepts the registration operation of the first starting point A1 and the first ending point B1 (S22: Yes), the control device 11 shifts the process to step S23. The control device 11 waits until the registration operation of the first starting point A1 and the first ending point B1 is accepted (S22: No).

[0134] In step S23, the control device 11 generates a first reference line L1. Specifically, the control device 11 generates a straight line connecting the first starting point A1 and the first ending point B1 (first generation mode), and registers the generated straight line as the first reference line L1 (see FIG. 9A). The control device 11 stores the generated first reference line L1 in the storage unit 51. The control device 11 may generate the first reference line L1 by a second generation mode in which a reference line is generated based on the starting point A and the vehicle azimuth angle, a third generation mode in which a reference line is generated based on the starting point A and a set azimuth angle, or a fourth generation mode in which a reference line is generated based on the outline of the field F.

[0135] Next, in step S24, the control device 11 generates a second reference line L2. Specifically, the control device 11 generates the second reference line L2 that is perpendicular to the first reference line L1. The control device 11 stores the generated second reference line L2 in the storage unit 51.

[0136] Next, in step S25, the control device 11 determines whether or not a registration operation of the second starting point A2 and the second ending point B2 has been accepted. For example, in the first generation mode, the operator presses the reference line operation unit 33b of the operation device 30 to start route generation and registers the second starting point A2 and the second ending point B2 (see Figs. 16A to 16D). When the control device 11 accepts the registration operation of the second starting point A2 and the second ending point B2 (S25: Yes), the control device 11 shifts the process to step S26. When the control device 11 does not accept the registration operation of the second starting point A2 and the second ending point B2 (S25: No), the control device 11 ends the route generation process. Note that the control device 11 may determine whether or not a registration operation of the second starting point A2 has been accepted in the second generation mode, and may determine whether or not a registration operation of the second starting point A2 and the set azimuth has been accepted in the third generation mode.

[0137] In step S26, the control device 11 judges whether or not the correction condition (predetermined condition of the present invention) is satisfied. For example, the control device 11 generates a straight line connecting the second starting point A2 and the second ending point B2 as a new reference line La (first generation mode), and judges that the correction condition is satisfied (S26: Yes) when the angle D2 between the reference line La and the first reference line L1 or the second reference line L2 is less than a predetermined angle Dth and the distance between the reference line La and the first reference line L1 or the second reference line L2 is less than a predetermined distance. When the control device 11 judges that the correction condition is satisfied (S26: Yes), it shifts the process to step S27. On the other hand, when the control device 11 judges that the correction condition is not satisfied (S26: No), it shifts the process to step S261. The control device 11 may generate the new reference line La by the second generation mode or the third generation mode.

[0138] In step S27, the control device 11 specifies the reference line to be corrected. For example, as shown in Fig. 17, when the angle D2 between the second reference line L2 and the new reference line La is less than a predetermined angle Dth (e.g., 45 degrees), the control device 11 specifies the second reference line L2 as the reference line to be corrected. Also, for example, as shown in Fig. 18, when the angle D2 between the second reference line L2 and the new reference line La is equal to or greater than the predetermined angle Dth, the control device 11 specifies the first reference line L1 as the reference line to be corrected.

[0139] Also, for example, when the angle D2 between the second reference line L2 and the new reference line La is greater than or equal to a predetermined angle Dth, and the distance X1 between the first reference line L1 and the new reference line La is less than a predetermined distance, the control device 11 identifies the first reference line L1 as the reference line to be corrected.

[0140] Next, in step S28, the control device 11 corrects the identified reference line to be corrected. Specifically, when the control device 11 identifies the second reference line L2 as the reference line to be corrected, the control device 11 corrects the second reference line L2 to the position of the reference line La (see FIG. 17). When the control device 11 identifies the first reference line L1 as the reference line to be corrected, the control device 11 corrects the first reference line L1 to the position of the reference line La (see FIG. 18).

[0141] On the other hand, if the correction condition is not satisfied in step S26 (S26: No), in step S261, the control device 11 registers (sets) the reference line La as the third reference line L3. For example, as shown in Fig. 19, if the angle D2 between the second reference line L2 and the new reference line La is equal to or larger than a predetermined angle Dth and the distance X1 between the first reference line L1 and the new reference line La is equal to or larger than a predetermined distance, the control device 11 registers the reference line La as the third reference line L3.

[0142] After steps S28 and S261, the control device 11 ends the route generation process. The control device 11 executes the route generation process every time a reference line registration operation is received from the operator.

[0143] As described above, the combine harvester 1 according to the second embodiment generates a reference line for automatic travel in the field F. The combine harvester 1 also generates a plurality of reference lines in different orientations, and when a setting operation for a new reference line received after the plurality of reference lines are generated satisfies a predetermined condition, identifies at least one reference line to be corrected among the plurality of reference lines, and corrects the identified reference line to a position according to the setting operation.

[0144] According to the above configuration, when a worker performs a setting operation to set a new reference line while multiple reference lines have been set, the position of a predetermined reference line among the multiple set reference lines is corrected to a position corresponding to the setting operation, thereby enabling the worker to easily correct the set reference lines and generate a target route based on the corrected reference lines.

[0145] In the conventional technology, for example, when a new reference line is registered to generate a target route, the worker must select and delete one of the registered reference lines before performing a setting operation for a new reference line, which is time-consuming. In contrast, according to the configuration of this embodiment, when a worker performs a setting operation to set a new reference line in a state in which multiple reference lines have been set, a reference line to be corrected among the multiple set reference lines is identified, and the position of the reference line is corrected to a position according to the setting operation. As a result, the worker does not need to delete or modify the set reference line, and the reference line to be corrected is appropriately selected and the correction process is performed, and the target route is generated based on the corrected reference line. Therefore, it is possible to easily generate a target route for automatically traveling the combine 1.

[0146] In another embodiment, the control device 11 may generate two reference lines (first reference line L1 and second reference line L2) in advance in accordance with a setting operation by the worker on the operating device 30, and when a setting operation for a new reference line is subsequently received from the worker, the control device 11 may identify one of the two reference lines that is to be corrected, and correct the identified reference line to a position in accordance with the setting operation, or register it as a third reference line.

[0147] The combine harvester of the present invention may have a configuration that combines the configuration according to the above-mentioned embodiment 1 and the configuration according to embodiment 2. For example, the control device 11 of the combine harvester 1 may have a configuration (corresponding to embodiment 2) for generating one or more reference lines in a route generation stage and then correcting the generated reference lines in response to a setting operation of a new reference line by an operator, and a configuration (corresponding to embodiment 1) for correcting the reference lines based on a correction operation by an operator when causing the combine harvester 1 to automatically travel along a target route corresponding to the reference lines in an automatic travel stage.

[0148] [Appendix 1 of the invention] Below, an outline of the invention extracted from the above-mentioned embodiment 1 will be described. Note that the configurations and processing functions described in the following notes can be arbitrarily combined by selecting them.

[0149] <Appendix 1> A route generation method for generating a target route for automatically driving a work vehicle based on a reference line, comprising: generating a predetermined first reference line; generating a second reference line based on the first reference line; correcting the second reference line when a predetermined correction operation is received when the work vehicle is automatically traveling based on the second reference line; A path generation method that performs the above.

[0150] <Appendix 2> The second reference line is a line perpendicular to the first reference line. 2. A route generation method as described in appendix 1.

[0151] <Appendix 3> The second reference line is a line along the outline of the work area. 3. The route generation method according to claim 1 or 2.

[0152] <Appendix 4> When the correction operation is received, the orientation of the second reference line is changed to an orientation according to the correction operation. A route generation method according to any one of appendix 1 to 3.

[0153] <Appendix 5> After the work vehicle has automatically traveled based on the second reference line, when an operation to correct the first reference line is received, only the first reference line is corrected; correcting the first reference line and the second reference line when an operation to correct the first reference line is received before the work vehicle automatically travels based on the second reference line. A route generating method according to any one of appendices 1 to 4.

[0154] <Appendix 6> storing the first reference line, the second reference line, and a corrected reference line obtained by correcting the second reference line, and generating the target route based on a reference line that is selected when the work vehicle starts autonomous traveling; A route generation method according to any one of appendixes 1 to 5.

[0155] <Appendix 7> The correction operation is an operation of shifting a route corresponding to the second reference line while the work vehicle is automatically traveling based on the second reference line; An operation of registering an end point while the work vehicle is autonomously traveling based on the second reference line; An operation of terminating the automated driving based on the second reference line; and and an operation of moving a working unit provided on the work vehicle to a non-working position while the work vehicle is automatically traveling based on the second reference line and the working unit is working. A route generation method according to any one of appendices 1 to 6.

[0156] [Appendix 2 of the invention] Below, an outline of the invention extracted from the above-mentioned embodiment 2 will be described. Note that the configurations and processing functions described in the following notes can be arbitrarily combined by selecting them.

[0157] <Appendix 1> A route generation method for generating a target route for automatically driving a work vehicle based on a reference line, comprising: generating a plurality of reference lines in different orientations; when a setting operation of a new reference line received after the plurality of reference lines are generated satisfies a predetermined condition, identifying at least one reference line to be corrected among the plurality of reference lines, and correcting the identified reference line to a position according to the setting operation; A path generation method that performs the above.

[0158] <Appendix 2> the plurality of reference lines include a first reference line and a second reference line generated based on the first reference line; When an angle between the second reference line and the new reference line is less than a predetermined angle, the second reference line is corrected to a position of the new reference line. 2. A route generation method as described in appendix 1.

[0159] <Appendix 3> When the angle between the second reference line and the new reference line is equal to or larger than the predetermined angle, the first reference line is corrected to the position of the new reference line. 3. A route generation method as described in appendix 2.

[0160] <Appendix 4> When an angle between the second reference line and the new reference line is equal to or larger than the predetermined angle, the new reference line is registered as a third reference line. 4. The route generation method according to claim 2 or 3.

[0161] <Appendix 5> accept an operation for selecting whether to correct the first reference line to a position of the new reference line or to register the new reference line as a third reference line when the angle between the second reference line and the new reference line is equal to or larger than the predetermined angle; A route generating method according to any one of appendixes 2 to 4.

[0162] <Appendix 6> When the angle between the second reference line and the new reference line is equal to or larger than the predetermined angle and the distance between the first reference line and the new reference line is less than a predetermined distance, the first reference line is corrected to a position of the new reference line; registering the new reference line as a third reference line when the angle between the second reference line and the new reference line is equal to or larger than the predetermined angle and the distance between the first reference line and the new reference line is equal to or larger than the predetermined distance; A route generating method according to any one of appendixes 2 to 5. [Explanation of symbols]

[0163] 1: Combine (work vehicle) 2: Running section (working section) 3: Reaping part 9: Control section 11: Control device 30: Operating device 51: Storage section 111: Driving processing unit 112: Generation processing unit 113: Correction processing unit F: Field A1: First starting point A2: Second starting point B1: First end point B2: Second end point L1: 1st reference line L2: Second reference line L21: Corrected baseline L22: Reference line after correction L3: 3rd reference line La: Reference line

Claims

1. A route generation method for generating a target route for automatically driving a work vehicle based on a reference line, comprising: generating a predetermined first reference line; generating a second reference line based on the first reference line; correcting the second reference line when a predetermined correction operation is received when the work vehicle is automatically traveling based on the second reference line; A path generation method that performs the above.

2. The second reference line is a line perpendicular to the first reference line. The route generation method according to claim 1 .

3. The second reference line is a line along the outline of the work area. The route generation method according to claim 1 .

4. When the correction operation is received, the orientation of the second reference line is changed to an orientation according to the correction operation. The route generation method according to claim 1 .

5. After the work vehicle has automatically traveled based on the second reference line, when an operation to correct the first reference line is received, only the first reference line is corrected; When an operation to correct the first reference line is received before the work vehicle automatically travels based on the second reference line, the first reference line and the second reference line are corrected. The route generation method according to claim 1 .

6. storing the first reference line, the second reference line, and a corrected reference line obtained by correcting the second reference line, and generating the target route based on a reference line that is selected when the work vehicle starts automatic traveling; The route generation method according to claim 1 .

7. The correction operation is an operation of shifting a route corresponding to the second reference line while the work vehicle is automatically traveling based on the second reference line; an operation of registering an end point while the work vehicle is autonomously traveling based on the second reference line; An operation of terminating the automated driving based on the second reference line; and an operation of moving a working unit provided on the work vehicle to a non-working position while the work vehicle is automatically traveling based on the second reference line and while the working unit is working, The route generation method according to any one of claims 1 to 6.

8. A route generation program for generating a target route for automatically driving a work vehicle based on a reference line, generating a predetermined first reference line; generating a second reference line based on the first reference line; correcting the second reference line when a predetermined correction operation is received when the work vehicle is automatically traveling based on the second reference line; A path generation program for causing one or more processors to execute the above.

9. A route generation system that generates a target route for automatically driving a work vehicle based on a reference line, a generation processing unit that generates a predetermined first reference line and generates a second reference line based on the first reference line; a correction processing unit that corrects the second reference line when a predetermined correction operation is received when the work vehicle is automatically traveling based on the second reference line; A route generation system comprising:

Images