Travelling method, travelling program, and travelling system

Abstract

To provide a travelling method, a travelling program, and a travelling system capable of causing a work vehicle to automatically travel in an appropriate route.SOLUTION: A setting processing unit 112 sets a route reference point to a combine 1 on the basis of an advancing direction when the combine 1 starts automatic travelling. A travelling processing unit 113 causes the combine 1 to travel automatically according to a target route generated on the basis of a reference line set in a farm field and the route reference point.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique 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. For example, the system generates a reference line based on an operation by an operator, and automatically drives the work vehicle along a target route corresponding to the generated reference line (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-087958 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional technology, automatic driving is initiated by generating a target route that passes through the work vehicle's current position (reference position for driving) and is parallel to a reference line, which results in a problem that the work vehicle may travel in a position that deviates from the route intended by the worker (see Figures 10A and 10B).

[0005] An object of the present invention is to provide a driving method, a driving program, and a driving system that are capable of causing a work vehicle to automatically travel an appropriate route. [Means for solving the problem]

[0006] A driving method according to the present invention is a method for automatically driving a work vehicle based on a reference line. The driving method executes the steps of: setting a route reference point for the work vehicle based on a traveling direction when the work vehicle starts automatic driving; and automatically driving the work vehicle according to a target route generated based on the reference line and the route reference point.

[0007] A driving program according to the present invention is a program for automatically driving a work vehicle based on a reference line. The driving program causes one or more processors to execute the following operations: setting route reference points for the work vehicle based on a traveling direction when the work vehicle starts automatic driving; and automatically driving the work vehicle according to a target route generated based on the reference line and the route reference points.

[0008] The travel system according to the present invention is a system for automatically traveling a work vehicle based on a reference line, and includes a setting processing unit and a travel processing unit. The setting processing unit sets route reference points for the work vehicle based on a traveling direction when the work vehicle starts automatic traveling. The travel processing unit automatically travels the work vehicle according to a target route generated based on the reference line and the route reference points. Effect of the Invention

[0009] According to the present invention, it is possible to provide a driving method, a driving program, and a driving system that are capable of causing a work vehicle to automatically travel an appropriate route. [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 7A] FIG. 7A is a diagram showing an example of a method for generating a reference line for a combine according to an embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing an example of a method for generating a reference line for a combine according to an embodiment of the present invention. [Figure 7C] FIG. 7C is a diagram showing an example of a method for generating a reference line for a combine according to an embodiment of the present invention. [Figure 7D] FIG. 7D is a diagram showing an example of a method for generating a reference line for a combine according to an embodiment of the present invention. [Figure 7E] FIG. 7E is a diagram showing an example of a method for generating a reference line for a combine according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a method for generating a target route for a combine harvester according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a traveling method of the combine harvester according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of a conventional traveling method of a combine harvester. [Figure 10B] FIG. 10B is a diagram showing an example of a conventional traveling method of a combine harvester. [Figure 11A] FIG. 11A is a diagram showing an example of a forward traveling method of the combine harvester according to the embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of a forward traveling method of the combine harvester according to the embodiment of the present invention. [Figure 12]FIG. 12 is a diagram showing an example of a reverse traveling method of the combine harvester according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a traveling method for backward traveling of the combine harvester according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a traveling method for backward traveling of the combine harvester according to the embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a traveling method for backward traveling of the combine harvester according to the embodiment of the present invention. [Figure 16] FIG. 16 is a flowchart showing an example of a procedure of a driving process executed by the driving system according to the embodiment of the present invention. [Figure 17] FIG. 17 is a flowchart showing another example of the procedure of the driving process executed by the driving system according to the embodiment of the present invention. [Figure 18A] FIG. 18A is a diagram showing an example of a traveling method of a combine harvester according to another embodiment of the present invention. [Figure 18B] FIG. 18B is a diagram showing an example of a traveling method of a combine harvester according to another 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] The traveling system according to the embodiment of the present invention includes a combine harvester 1, a satellite (not shown), and a base station (not shown). The combine harvester 1 is an example of a 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 route (parallel line) parallel to a reference line L1 is set as a 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 route (parallel line) parallel to a reference line L2 is set as a 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 will be referred to as the "target route R". The reference lines L1 and L2 are generated based on, for example, a start point A and an end point B registered at any position in the field F. Alternatively, one of the reference lines L1, L2 may be generated based on the starting point A and the ending point B, and an orthogonal line perpendicular to the one reference line may be generated as the other reference line. Furthermore, the target route R along which the combine harvester 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 reference lines L1, 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 manual steering by 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 B1 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 B1. For example, the waste straw B1 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 waste straw rows are formed. The number of revolutions around 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 reference line L1 in the vertical direction, and performs the reaping operation while automatically traveling along a target route R2 (see FIG. 4B) corresponding to the reference line L2 in the horizontal 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 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, a main speed change lever 91, 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. The combine harvester 1 travels on the traveling section 2, while reaping culms with the reaping section 3, threshing the reaped culms with the threshing section 4, sorting the grains with the sorting section 5, and storing 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 target field F, and is provided in front of the traveling unit 2. It reaps stalks of a predetermined reaping width in an area (unmowed area) of the field F that has unmowed stalks, which is an unworked area of ​​the field F. 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. Around the driver's seat 40 where the operator sits, the control unit 9 is provided with a handle for instructing the turning of the combine harvester 1, a main speed change lever 91 (see FIG. 3) and an auxiliary speed change lever for changing the forward and backward speed of the combine harvester 1 and switching the traveling direction (forward direction, reverse direction), etc., as operating tools for operating the traveling of the combine harvester 1. 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 91, and the auxiliary speed change lever of the control unit 9. The control unit 9 also includes a mechanism 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, etc. The control unit 9 also includes an operating device 30 (see FIG. 3) for generating a reference line L (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 Figs. 16 and 17) 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. 6. 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. 3). 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] 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. The operation device 30 may be configured to be capable of setting only one reference line, or 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 pressable only when the start condition is satisfied, or may be always pressable and transmit an automatic driving start instruction only when the start condition is satisfied and a press operation is performed. Alternatively, the automatic driving instruction unit 31 may be always pressable and always transmit an automatic driving start instruction in response to a press 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] Next, an example of a method for generating a reference line using the operation device 30 will be described with reference to Figs. 7A to 7E. 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. 7A). When the operator moves the combine harvester 1 to an arbitrary position (e.g., an end) in the field F, the operator presses the start point setting unit 35 (see Fig. 7A). The control device 11 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 (start point A in Fig. 8). When the start point A is registered, the start point setting display unit 37 lights up an LED (see Fig. 7B). After that, the operator manually drives the combine harvester 1 and presses the end point setting unit 36 ​​at an arbitrary position (e.g., an end) (see Fig. 7C). The control device 11 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 (end point B in FIG. 8). When end point B is registered, the end point setting display unit 38 and the automatic travel display unit 32 each turn on an LED (see FIG. 7D).

[0057] When the control device 11 registers the starting point A and the ending point B, it generates a straight line connecting the starting point A and the ending point B, and registers the generated straight line as a reference line L (see FIG. 8). The control device 11 stores the generated reference line L in the memory unit 51. The control device 11 also registers (sets) the reference line L 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. Furthermore, the "orientation" may be specified by a direction or a numerical value. The control device 11 may generate a reference orientation (numerical value) and store it in the memory unit 51.

[0058] As described above, the control device 11 generates a reference line based on the start point and the end point set in the field F. When the reference line is registered, for example, when the operator presses the reference line operation unit 33a, the operation device 30 lights up the start point setting display unit 37 and the end point setting display unit 38. 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 light up, 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. 7E).

[0059] In the present invention, the method of generating the reference line L is not limited to the above-mentioned method. For example, the control device 11 may generate the reference line L (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 reference line L.

[0060] As another method, the control device 11 may generate the reference line L (reference azimuth) based on an azimuth angle (set azimuth angle) set by an operator. Specifically, when the operator inputs an angle with respect to the reference azimuth (for example, north azimuth) 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 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 reference line L.

[0061] As another method, when the outline of the field F is registered, the control device 11 may generate the reference line L (reference orientation) based on one 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 as the reference line L a straight line parallel to the right side of the left side, right side, top side, and bottom side of the rectangle.

[0062] As described above, the control device 11 may employ any of the following methods: a method of generating the reference line L based on the start point A and the end point B (first generation mode), a method of generating the reference line L based on the start point A and the vehicle azimuth angle (second generation mode), a method of generating the reference line L based on the start point A and a set azimuth angle (third generation mode), and a method of generating the reference line L based on the outline of the field F (fourth generation mode). Furthermore, the control device 11 may generate the reference line L 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.

[0063] As shown in Fig. 1, the control device 11 includes various processing units such as a driving processing unit 111, a setting processing unit 112, and a generation processing unit 113. 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 multiple processors to function as the processing units.

[0064] 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.

[0065] Furthermore, when the travel mode of the combine harvester 1 is automatic travel (automatic travel mode), the travel 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 travel and acquires a travel start instruction from the operator, the travel processing unit 111 starts automatic travel of the combine harvester 1 based on the positioning information. Furthermore, the travel processing unit 111 automatically travels the combine harvester 1 according to the target route R generated in advance by the generation processing unit 113.

[0066] For example, when the combine harvester 1 satisfies the conditions for starting automatic driving and the operator presses the automatic driving instruction unit 31 of the operation device 30, the driving processing unit 111 obtains a driving start instruction and causes the combine harvester 1 to automatically drive along the target route R (e.g., a straight route).

[0067] For example, the travel processing unit 111 automatically travels along a target route R based on a travel reference point C1 set in the combine harvester 1. The travel reference point C1 is set, for example, at the turning center of the travel unit 2 of the combine harvester 1 (the center of the crawler-type travel device 23 (crawler)) (see FIG. 8). The travel processing unit 111 controls the travel unit 2 to automatically travel so that the travel reference point C1 of the combine harvester 1 passes through the target route R.

[0068] In addition, the driving processing unit 111 switches the forward / reverse vehicle speed (driving speed) and driving direction (forward direction, reverse direction) according to the operating position of the main speed change lever 91. For example, when the operator presses the automatic driving instruction unit 31 to issue a driving start instruction in a state where the main speed change lever 91 is in the "forward range ("F")" position and the combine harvester 1 satisfies the conditions for starting automatic driving, the driving processing unit 111 starts automatic driving of the combine harvester 1 in the forward direction. Also, when the operator presses the automatic driving instruction unit 31 to issue a driving start instruction in a state where the main speed change lever 91 is in the "reverse range ("R")" position and the combine harvester 1 satisfies the conditions for starting automatic driving, the driving processing unit 111 starts automatic driving of the combine harvester 1 in the reverse direction. The main speed change lever 91 is an example of a driving direction switching operation tool of the present invention.

[0069] A specific example of the start procedure of automatic traveling will be described. Here, a case where the target route R is generated by the "vehicle position reference mode" will be described as an example. 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, reference lines L1, L2) 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 of the combine harvester 1 or the vehicle direction. Next, the control device 11 generates one 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 is moved by 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 its vehicle orientation is within a predetermined range of the route (satisfying the conditions for starting automatic driving). 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 sets the route at that position at that time as a 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 a single route (parallel line) parallel to the reference line L may be displayed on the display screen.

[0070] 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.

[0071] After the combine harvester 1 starts automatic traveling, the traveling processing unit 111 switches the traveling mode to manual traveling when the combine harvester 1 reaches a target end position of the work path. The traveling processing unit 111 may switch the traveling mode to manual traveling when it is determined that the combine harvester 1 has reached a target end position of the work path, or may switch the traveling mode to manual traveling in response to an operation by an operator (e.g., steering of a handle). When the traveling mode is switched to manual traveling, for example, the operator makes the combine harvester 1 turn (manual traveling) by manually steering. The target end position of each work path may be a position a predetermined distance inward from the edge of the field F, a position previously designated by the operator, a position that lines up with the position where the operator switched from automatic driving to manual driving on the previous worked path (a position where the work path intersects with a line perpendicular to the worked path that passes through the position where manual driving was switched to, or a position where the work path intersects with a line parallel to the edge of the field F that passes through the position where manual driving was switched to), a position where the work path intersects with a line perpendicular to the reference line that passes through the end point (point B) of the reference line, etc. When the combine 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.

[0072] In addition, during the mowing operation, the driving processing unit 111 acquires the vehicle position of the combine 1 (the position of the driving reference point C1) from the positioning unit 52, and based on the vehicle position and the target route R, controls the driving unit 2, the mowing unit 3, and the power unit 8 so that the combine 1 automatically drives and performs mowing operation along the work route.

[0073] 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.

[0074] However, in the conventional technology, a target route that passes through the current position (travel reference point) of the combine harvester and is parallel to the reference line is generated to start automatic travel, which causes a problem that the combine harvester travels in a position that deviates from the route intended by the operator. For example, as shown in Fig. 9, if the vehicle orientation of the combine harvester at the time of starting automatic travel is approximately consistent with the direction of the work route F10 in the work area F11, the target route R that passes through the travel reference point C1 approximately coincides with the work route F10, so when automatic travel is started to perform reaping work, the combine harvester can travel appropriately in the work area F11 and perform reaping work. In contrast, as shown in Figure 10A, if the vehicle orientation of the combine is deviated from the direction of the work path F10 of the work area F11 at the time automatic driving begins (if an orientation difference occurs), the target route R passing through the driving reference point C1 will deviate from the work path F10.Therefore, when automatic driving begins and mowing work is performed, as shown in Figure 10B, the combine will travel through an area F12 deviated from the work area F11 and perform mowing work, resulting in an unworked area of ​​the work area F11.

[0075] In this way, the conventional technology has a problem that the combine harvester travels in a position that deviates from the route intended by the operator. In contrast, the combine harvester 1 according to the present embodiment has a configuration that allows the combine harvester 1 to automatically travel an appropriate route, as described below.

[0076] Specifically, the setting processing unit 112 sets a route reference point P1 for generating a target route R at a position different from the running reference point C1 for the combine harvester 1. For example, the setting processing unit 112 sets the route reference point P1 for the combine harvester 1 based on the traveling direction when the combine harvester 1 starts automatic running. The generation processing unit 113 generates the target route R based on the set route reference point P1. For example, the generation processing unit 113 generates the target route R which is a straight line that passes through the route reference point P1 and is parallel to the reference line L. Specifically, the generation processing unit 113 generates a route (parallel line) that passes through the route reference point P1 and is parallel to the reference line L, and sets the generated route as the target route R.

[0077] For example, as shown in FIG. 11A, when the operator puts the main shift lever 91 into the "forward range ("F")" position, the setting processing unit 112 sets the route reference point P1 to the vehicle forward side of the driving reference point C1. Specifically, the setting processing unit 112 sets the route reference point P1 to the center (center in the width direction) and the tip of the reaping unit 3. The generation processing unit 113 generates a target route R that passes through the set route reference point P1 and is parallel to the reference line L. When the combine 1 satisfies the start condition for automatic driving in a state in which the target route R is generated based on the route reference point P1 and the operator presses the automatic driving instruction unit 31 to issue a driving start instruction, the driving processing unit 111 controls the traveling unit 2 to automatically drive so that the traveling reference point C1 of the combine 1 passes through the target route R. 11A and 11B, even if the vehicle orientation of the combine 1 deviates from the direction of the work path F10 in the work area F11, the combine 1 travels along the target path R that passes through the path reference point P1, so that the combine 1 can travel appropriately in the work area F11 to perform the reaping work. In this way, even if the vehicle orientation deviates from the direction of the work area F11 (work path F10) (see FIG. 11A), the operator can align the tip of the reaping unit 3 of the combine 1 with the work area F11 and start automatic traveling, thereby allowing the operator to intentionally travel along the path (see FIG. 11B).

[0078] As another embodiment, the setting processing unit 112 may set the route reference point P1 forward of the reaping unit 3. In addition, the setting processing unit 112 may set the route reference point P1 at a position shifted in the left-right direction with respect to the center of the width of the vehicle.

[0079] Here, if the setting processing unit 112 sets the route reference point P1 to the vehicle front side of the driving reference point C1, the behavior of the combine harvester 1 may become unstable when the combine harvester 1 is driven backward. For example, as shown in Fig. 12, when the combine harvester 1 finishes the reaping work in the working area F11 and drives backward in the working area F11, if the vehicle orientation of the combine harvester 1 deviates from the direction of the working area F11 (working route F10), the generation processing unit 113 generates a target route R for driving backward based on the route reference point P1 set in the reaping unit 3. In this case, the driving processing unit 111 controls the driving so that the driving reference point C1 is along the target route R, so that the combine harvester 1 performs abrupt steering (sharp turn) as shown in the route Rs as shown in Fig. 12, resulting in an unstable behavior.

[0080] Therefore, when the combine harvester 1 travels backward, the setting processing unit 112 sets the route reference point P1 to the position of the travel reference point C1. That is, when the combine harvester 1 travels backward, the setting processing unit 112 generates a target route R based on the travel reference point C1 as shown in FIG. 13. For example, when the operator puts the main shift lever 91 into the position of the "reverse range ("R")", the setting processing unit 112 sets the route reference point P1 to the travel reference point C1, and the generation processing unit 113 generates a target route R that is a straight line that passes through the route reference point P1 (travel reference point C1) and is parallel to the reference line L. When the combine harvester 1 satisfies the start condition for automatic travel in a state where the target route R is generated based on the route reference point P1, and the operator presses the automatic travel instruction unit 31 to issue a travel start instruction, the travel processing unit 111 controls the travel unit 2 to automatically travel so that the travel reference point C1 of the combine harvester 1 passes through the target route R. As a result, as shown in Fig. 13, when the combine harvester 1 travels toward the target route R, the turning angle of the route Rs becomes gentler, and the behavior becomes stable. Note that, as shown in Fig. 13, when the combine harvester 1 travels backward, it does not perform any mowing work and travels through an area where mowing work has already been performed, so there is no need for the combine harvester 1 to travel along the work route F10 (see Fig. 12) and it is sufficient for the combine harvester 1 to travel backward parallel to the reference line L.

[0081] In another embodiment, the setting processing unit 112 may set the route reference point P1 on the rear side of the vehicle relative to the travel reference point C1 when the combine harvester 1 travels backward. Specifically, as shown in FIG. 14, the setting processing unit 112 sets the route reference point P1 at the center (center in the width direction) and rear end of the vehicle. The generation processing unit 113 generates a target route R that passes through the set route reference point P1 and is parallel to the reference line L. The travel processing unit 111 controls the travel unit 2 to automatically travel so that the travel reference point C1 of the combine harvester 1 passes through the target route R. As a result, as shown in FIG. 14, the combine harvester 1 travels toward the target route R that passes through the route reference point P1, and the turning angle of the route Rs becomes gentler, so that the behavior becomes more stable.

[0082] In another embodiment, the setting processing unit 112 may set the route reference point P1 behind the rear end of the vehicle. For example, as shown in Fig. 15, the setting processing unit 112 may set the route reference point P1 for backward travel at a position rearward from the travel reference point C1 by the same distance as the distance t1 from the travel reference point C1 to the route reference point P1 for forward travel. This allows the combine 1 to travel so as to follow the target route R more smoothly.

[0083] In this way, the setting processing unit 112 sets the route reference point P1 for the combine harvester 1 based on the traveling direction when the combine harvester 1 starts automatic traveling, and the generation processing unit 113 generates the target route R based on the reference line L and the route reference point P1. Then, the traveling processing unit 111 automatically travels the combine harvester 1 so that the traveling reference point C1 is aligned with the target route R.

[0084] Furthermore, when the traveling direction of the combine 1 is a first direction, the setting processing unit 112 sets the route reference point P1 closer to the first direction than when the traveling direction is a second direction opposite to the first direction. For example, when the traveling direction of the combine 1 is a forward direction, the setting processing unit 112 sets the route reference point P1 in the forward direction (forward) than when the traveling direction is a backward direction (see Figs. 11A and 11B). Furthermore, when the traveling direction of the combine 1 is a backward direction, the setting processing unit 112 sets the route reference point P1 in the backward direction (rear) than when the traveling direction is a forward direction (see Figs. 13 to 15).

[0085] Also, the setting processing unit 112 sets the route reference point P1 on the forward direction side of the traveling reference point C1. For example, when the traveling direction of the combine harvester 1 is a forward direction, the setting processing unit 112 sets the route reference point P1 on the forward direction side (forward) of the traveling reference point C1 (see Figs. 11A and 11B). Also, when the traveling direction of the combine harvester 1 is a backward direction, the setting processing unit 112 may set the route reference point P1 in the backward direction (rear) of the traveling reference point C1 (see Figs. 14 and 15).

[0086] Furthermore, the setting processing unit 112 sets the route reference point P1 to the front side or the rear side of the combine harvester 1 based on the state (forward or reverse) of the main speed change lever 91 when the combine harvester 1 starts automatic traveling. In other words, the setting processing unit 112 may determine the setting position of the route reference point P1 based on the position of the main speed change lever 91.

[0087] The driving reference point C1 is set to a constant position (for example, the turning center position (the center of the crawler-type traveling device 23 (crawler))) regardless of the traveling direction of the combine harvester 1. In other words, the route reference point P1 for generating the target route R is set to a position (forward or backward of the vehicle) according to the traveling direction of the combine harvester 1, while the driving reference point C1 for controlling the position of automatic traveling is fixed to a predetermined position (for example, the turning center position (the center of the crawler-type traveling device 23 (crawler))) regardless of the traveling direction. As a result, the control device 11 generates the target route R based on the route reference point P1 set according to the traveling direction of the combine harvester 1, and causes the combine harvester 1 to automatically travel along the target route R based on the driving reference point C1.

[0088] The control device 11 may display the route reference point P1 on the operation screen of the operation terminal. This allows the operator to check the route reference point P1 when starting automatic traveling, and therefore allows the operator to properly align the combine 1 with the work route.

[0089] [Driving processing] Hereinafter, an example of the driving process executed by the driving system according to this embodiment will be described with reference to FIG.

[0090] 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 be a traveling method in which one or more processors execute each step in the traveling process in a distributed manner.

[0091] In step S1, the control device 11 determines whether the traveling direction of the combine harvester 1 is the forward direction. If the traveling direction is the forward direction (S1: Yes), the control device 11 shifts the process to step S2. On the other hand, if the traveling direction is not the forward direction (if the traveling direction is the reverse direction) (S1: No), the control device 11 shifts the process to step S10. For example, the control device 11 determines that the traveling direction is the forward direction when the main speed change lever 91 is in the "forward range ("F")" position, and determines that the traveling direction is the reverse direction when the main speed change lever 91 is in the "reverse range ("R")" position.

[0092] In step S2, the control device 11 sets the route reference point P1 forward of the travel reference point C1. For example, the control device 11 sets the route reference point P1 at the center (center in the width direction) and tip of the reaping unit 3 (see FIG. 11A). After step S2, the control device 11 shifts the process to step S3.

[0093] On the other hand, in step S10, the control device 11 sets the route reference point P1 behind the driving reference point C1. For example, the control device 11 sets the route reference point P1 to the rear end of the vehicle (see FIG. 14). After step S10, the control device 11 shifts the process to step S3.

[0094] In step S3, the control device 11 generates a route (parallel line) that passes through the route reference point P1 and is parallel to the reference line L (see FIG. 8).

[0095] In step S4, the control device 11 determines whether the combine harvester 1 satisfies the conditions for starting automatic driving. For example, the control device 11 determines that the combine harvester 1 satisfies the conditions for starting automatic driving when the vehicle orientation of the combine harvester 1 is within a predetermined range with respect to the parallel lines. 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 parallel lines. When the control device 11 determines that the combine harvester 1 satisfies the conditions for starting automatic driving (S4: Yes), it shifts the process to step S5. The control device 11 waits until the combine harvester 1 satisfies the conditions for starting automatic driving (S4: No).

[0096] Next, in step S5, the control device 11 determines whether or not an automatic driving start instruction has been acquired. When the control device 11 acquires an automatic driving start instruction (S5: Yes), the control device 11 shifts the process to step S6. The control device 11 waits until an automatic driving start instruction is acquired (S5: No). For example, when the combine harvester 1 satisfies the automatic driving start conditions and the operator presses the automatic driving instruction unit 31, the control device 11 acquires an automatic driving start instruction.

[0097] In step S6, the control device 11 sets a target route R. Specifically, the control device 11 sets the parallel line passing through a route reference point P1 corresponding to the position of the combine harvester 1 at the time when the control device 11 acquires an instruction to start automatic traveling (such as the current position or a position several ms before the current position) as the target route R. For example, when the traveling direction of the combine harvester 1 is the forward direction, the control device 11 sets a target route R passing through a traveling reference point C1 set in the reaping unit 3 as shown in FIG. 11A. Also, for example, when the traveling direction of the combine harvester 1 is the backward direction, the control device 11 sets a target route R passing through a traveling reference point C1 set in the rear end of the vehicle as shown in FIG. 14.

[0098] Next, in step S7, the control device 11 causes the combine harvester 1 to start automatic traveling according to the target route R. Specifically, the control device 11 controls the traveling unit 2 to cause the combine harvester 1 to automatically travel so that the traveling reference point C1 passes through the target route R. The combine harvester 1 performs reaping work while automatically traveling straight forward or backward according to the target route R.

[0099] Next, in step S8, the control device 11 determines whether the combine harvester 1 has ended automatic traveling. The control device 11 determines that the combine harvester 1 has ended automatic traveling when the operator presses the stop switch or when the steering wheel is steered by a predetermined steering amount or more. When the control device 11 determines that the combine harvester 1 has ended automatic traveling (S8: Yes), it switches the traveling mode to the manual traveling mode and ends the traveling process. The control device 11 continues automatic traveling until the combine harvester 1 ends automatic traveling (S8: No).

[0100] For example, when automatic driving becomes possible in a specified work area (e.g., work area F11 (see FIG. 11A)), the control device 11 executes the above-mentioned processing to cause the combine 1 to perform automatic driving and mowing work according to the target route R. When the combine 1 completes work in the work area F11 (ends automatic driving), the operator manually steers the combine 1 (manual driving) to move to the target position of the next work area. When the direction of travel of the combine 1 is specified at the target position (S1), the control device 11 executes the above-mentioned processing to cause the combine 1 to perform automatic driving and mowing work according to the target route R in the next work area. In this way, the control device 11 executes the above-mentioned processing for each work area (work route).

[0101] The travel processing is not limited to the example shown in FIG. 16. For example, the control device 11 may execute the travel processing in a procedure shown in FIG.

[0102] In step S11, the control device 11 determines whether the combine harvester 1 is in a state capable of automatic travel (whether the conditions for starting automatic travel are satisfied). If the control device 11 determines that the combine harvester 1 is in a state capable of automatic travel (S11: Yes), the control device 11 shifts the process to step S12. The control device 11 waits until the combine harvester 1 is in a state capable of automatic travel (S11: No).

[0103] In step S12, the control device 11 determines whether or not an automatic driving start instruction has been acquired. When the control device 11 acquires an automatic driving start instruction (S12: Yes), the control device 11 shifts the process to step S13. The control device 11 waits until an automatic driving start instruction is acquired (S12: No). For example, when the combine harvester 1 satisfies the automatic driving start condition and the operator presses the automatic driving instruction unit 31, the control device 11 acquires an automatic driving start instruction.

[0104] In step S13, the control device 11 determines whether the traveling direction of the combine harvester 1 is the forward direction. If the traveling direction is the forward direction (S13: Yes), the control device 11 shifts the process to step S14. On the other hand, if the traveling direction is not the forward direction (if the traveling direction is the reverse direction) (S13: No), the control device 11 shifts the process to step S131. For example, the control device 11 determines that the traveling direction is the forward direction when the main speed change lever 91 is in the "forward range ("F")" position, and determines that the traveling direction is the reverse direction when the main speed change lever 91 is in the "reverse range ("R")" position.

[0105] In step S14, the control device 11 sets the route reference point P1 forward of the driving reference point C1. For example, the control device 11 sets the route reference point P1 at the center (center in the width direction) and tip of the reaping unit 3 (see FIG. 11A). After step S14, the control device 11 shifts the process to step S15.

[0106] On the other hand, in step S131, the control device 11 sets the route reference point P1 behind the driving reference point C1. For example, the control device 11 sets the route reference point P1 to the rear end of the vehicle (see FIG. 14). After step S131, the control device 11 shifts the process to step S15.

[0107] In step S15, the control device 11 generates a target route R. Specifically, the control device 11 generates a target route R that passes through the route reference point P1 and is parallel to the reference line L (see FIG. 8). For example, when the traveling direction of the combine harvester 1 is a forward direction, the control device 11 generates a target route R that passes through a traveling reference point C1 set in the reaping unit 3 as shown in FIG. 11A. Also, for example, when the traveling direction of the combine harvester 1 is a backward direction, the control device 11 generates a target route R that passes through a traveling reference point C1 set at the rear end of the vehicle as shown in FIG. 14.

[0108] Next, in step S16, the control device 11 causes the combine harvester 1 to start automatic traveling according to the target route R. Specifically, the control device 11 controls the traveling unit 2 to cause the combine harvester 1 to automatically travel so that the traveling reference point C1 passes through the target route R. The combine harvester 1 performs reaping work while automatically traveling straight forward or backward according to the target route R.

[0109] Next, in step S17, the control device 11 determines whether the combine harvester 1 has ended automatic traveling. The control device 11 determines that the combine harvester 1 has ended automatic traveling when the operator presses the stop switch or when the steering wheel is steered by a predetermined steering amount or more. When the control device 11 determines that the combine harvester 1 has ended automatic traveling (S17: Yes), it switches the traveling mode to the manual traveling mode and ends the traveling process. The control device 11 continues automatic traveling until the combine harvester 1 ends automatic traveling (S17: No).

[0110] As described above, the control device 11 according to this embodiment automatically drives the combine harvester 1 based on the reference line L. In addition, the control device 11 sets a route reference point P1 for the combine harvester 1 based on the traveling direction when the combine harvester 1 starts automatic driving, and automatically drives the combine harvester 1 according to a target route R generated based on the reference line L and the route reference point P1.

[0111] According to the above configuration, for example, when the combine harvester 1 travels forward, the route reference point P1 is set in front of the vehicle, a target route R passing through the route reference point P1 is generated, and the combine harvester 1 can be automatically traveled in the forward direction. This allows the combine harvester 1 to travel along a route intended by the operator (see Figs. 11A and 11B). Also, for example, when the combine harvester 1 travels backward, the route reference point P1 is set at the center or rear of the vehicle, a target route R passing through the route reference point P1 is generated, and the combine harvester 1 can be automatically traveled in the backward direction. This allows the combine harvester 1 to travel along a route intended by the operator (see Figs. 11A, 11B, 13 to 15). That is, it is possible to automatically travel the appropriate route for the combine harvester 1.

[0112] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0113] For example, the setting processing unit 112 may set the route reference point P1 according to the vehicle speed of the combine harvester 1. Specifically, the faster the vehicle speed of the combine harvester 1, the more the setting processing unit 112 sets the route reference point P1 on the traveling direction side of the combine harvester 1. Specifically, the faster the set vehicle speed when traveling forward, the faster the setting processing unit 112 sets the route reference point P1 to a position (forward position) farther from the traveling reference point C1, and the slower the set vehicle speed when traveling forward, the closer the route reference point P1 to the traveling reference point C1. Similarly, the faster the set vehicle speed when traveling backward, the faster the setting processing unit 112 sets the route reference point P1 to a position (rear position) farther from the traveling reference point C1, and the slower the set vehicle speed when traveling backward, the closer the route reference point P1 to the traveling reference point C1.

[0114] As another embodiment, the setting processing unit 112 may set the route reference point P1 according to the direction (vehicle direction) of the combine harvester 1. Specifically, the setting processing unit 112 sets the route reference point P1 on the traveling direction side of the combine harvester 1 as the difference (direction difference) between the traveling direction (vehicle direction) of the combine harvester 1 and the direction of the reference line L becomes larger. Specifically, as shown in FIG. 18A, when the direction difference between the traveling direction when the combine harvester 1 travels forward and the reference line L is small, the setting processing unit 112 sets the route reference point P1 at the tip of the reaping unit 3, and when the direction difference between the traveling direction when the combine harvester 1 travels forward and the reference line L is large, as shown in FIG. 18B, the setting processing unit 112 sets the route reference point P1 ahead of the reaping unit 3. This allows the combine harvester 1 to appropriately travel along the route (target route R) intended by the operator.

[0115] The setting processing unit 112 may determine whether to set the route reference point P1 based on the vehicle speed or the azimuth difference of the combine harvester 1 through a selection operation by the operator. For example, when the operator sets a mode in which the route reference point P1 is linked to the vehicle speed, the setting processing unit 112 sets the route reference point P1 based on the vehicle speed of the combine harvester 1, and when the operator sets a mode in which the route reference point P1 is not linked to the vehicle speed, the setting processing unit 112 sets the route reference point P1 without considering the vehicle speed of the combine harvester 1. The operator may also be able to switch the mode for each work route.

[0116] As described above, the setting processing unit 112 sets the route reference point P1 to the front side or rear side of the combine harvester 1 based on the state of the main shift lever 91 when the combine harvester 1 starts automatic traveling. For example, when the main shift lever 91 is in the "forward range ("F")" position, the setting processing unit 112 sets the route reference point P1 to the vehicle front side of the traveling reference point C1, and when the main shift lever 91 is in the "reverse range ("R")" position, the setting processing unit 112 sets the route reference point P1 to the traveling reference point C1 or to the vehicle rear side of the traveling reference point C1. Here, when the main shift lever 91 is in the "neutral ("N")" position (neutral), the setting processing unit 112 may predict that the combine harvester 1 will travel forward and set the route reference point P1 to the vehicle front side of the traveling reference point C1. For example, when the operator places the main shift lever 91 in the "neutral ("N")" position, the setting processing unit 112 sets the route reference point P1 to be further forward of the vehicle than the driving reference point C1, and the generation processing unit 113 generates the target route R based on the driving reference point C1. Then, when the combine harvester 1 satisfies the conditions for starting automatic driving in a state in which the target route R has been generated based on the route reference point P1, and the operator presses the automatic driving instruction unit 31 to issue a driving start instruction, and further when the operator places the main shift lever 91 in the "forward range ("F")" position, the driving processing unit 111 starts automatic driving according to the target route R.

[0117] In this case, when the operator puts the main shift lever 91 in the "reverse range ("R")" position, the setting processing unit 112 may reset the route reference point P1 to the position of the travel reference point C1 or to the rear side of the vehicle from the travel reference point C1. When the combine harvester 1 satisfies the automatic travel start condition in a state where the target route R is generated based on the route reference point P1 reset to the rear side, the travel processing unit 111 starts automatic travel in the backward direction according to the target route R. When the combine harvester 1 does not satisfy the automatic travel start condition in a state where the target route R is generated based on the route reference point P1 reset to the rear side, the combine harvester 1 is manually traveled by manual steering by the operator with the route reference point P1 set to the rear side of the vehicle. After that, when the combine harvester 1 satisfies the automatic travel start condition and the operator presses the automatic travel instruction unit 31 to give a travel start instruction, the travel processing unit 111 starts automatic travel in the backward direction according to the target route R.

[0118] After setting the route reference point P1, the operator may be able to select in advance whether to set the route reference point P1 on the front or rear side of the vehicle so that the route reference point P1 does not switch between the front and rear sides of the vehicle when the main shift lever 91 is operated to move the combine 1 to satisfy the conditions for starting automatic driving.

[0119] In another embodiment, when the main speed change lever 91 is in the "neutral ("N")" position, the setting processing unit 112 may predict that the combine harvester 1 will travel backward and set the route reference point P1 to the position of the travel reference point C1 or further rearward of the vehicle than the travel reference point C1. For example, when the work pattern is set to a work pattern (one-way mowing) in which the combine harvester 1 travels forward on the work path to perform a mowing operation and then travels backward on the work path, when the combine harvester 1 travels forward on the work path and finishes the mowing operation, the operator switches the main speed change lever 91 to the "neutral ("N")" position to make the combine harvester 1 travel backward. In this case, the setting processing unit 112 determines that the combine harvester 1 will travel backward and sets the route reference point P1 to the travel reference point C1 or further rearward of the vehicle than the travel reference point C1. The generation processing unit 113 generates a target route R based on the driving reference point C1, and when the operator places the main shift lever 91 in the "reverse range ("R")" position, the driving processing unit 111 starts automatic driving in the reverse direction according to the target route R. Note that the operator may be able to select in advance whether to set the route reference point P1 to the front or rear of the vehicle when the main shift lever 91 is in the "neutral ("N")" position.

[0120] In this manner, the setting processing unit 112 may set the route reference point P1 based on the state of the main speed change lever 91 and the work pattern (traveling pattern) when the combine harvester 1 starts automatic traveling.

[0121] As another embodiment of the present invention, the setting processing unit 112 may set the travel reference point C1 at a different position for each reference line L. For example, the control device 11 may generate a second reference line L based on a registration operation by an operator, or may generate a second reference line L (for example, a reference line perpendicular to the first reference line L) based on the first reference line L. In this case, the setting processing unit 112 sets the route reference point P1 at a first position when the vehicle is automatically traveled based on the first reference line L1, and sets the route reference point P1 at a second position when the vehicle is automatically traveled based on the second reference line L2. For example, when the first reference line L1 is a reference line for traveling through a work area where mowing work is performed, highly accurate position control is required, so the setting processing unit 112 sets the route reference point P1 on the travel direction side of the travel reference point C1. On the other hand, for example, when the second reference line L2 is a reference line for traveling through a non-work area (such as a headland area) where mowing work is not performed, highly accurate position control is not required, so the setting processing unit 112 sets the route reference point P1 at the position of the travel reference point C1.

[0122] As another embodiment of the present invention, the setting processing unit 112 may set the traveling reference point C1 based on a setting operation of the priority mode by the worker. For example, in the case of a priority mode ("priority of work accuracy") in which priority is given to the accuracy of the mowing work (positional accuracy), the setting processing unit 112 sets the route reference point P1 on the forward direction side of the traveling reference point C1. In contrast, in the case of a priority mode ("priority of work continuity") in which priority is given to the work efficiency (traveling efficiency), the setting processing unit 112 sets the route reference point P1 to the position of the traveling reference point C1.

[0123] In the above-described embodiment, a combine harvester has been given as an example of the work vehicle of the present invention, but if the work vehicle is, for example, a work vehicle equipped with a working unit at the rear of the vehicle (for example, a tractor equipped with a tiller), the setting processing unit 112 sets the route reference point P1 behind the driving reference point C1 (position of the working unit) when the work vehicle travels forward. In other words, the setting processing unit 112 may set the route reference point P1 based on the position of the working unit.

[0124] [Notes on the invention] The following will provide an overview of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0125] <Appendix 1> A method for automatically driving a work vehicle based on a reference line, comprising: Setting a route reference point for the work vehicle based on a traveling direction when the work vehicle starts automatic traveling; automatically driving the work vehicle along a target route that is generated based on the reference line and the route reference points; A driving method to perform the above.

[0126] <Appendix 2> The target route is a straight line that passes through the route reference point and is parallel to the reference line. The driving method described in Appendix 1.

[0127] <Appendix 3> When the traveling direction is a first direction, the route reference point is set closer to the first direction than when the traveling direction is a second direction opposite to the first direction. 2. A driving method as described in appendix 1 or 2.

[0128] <Appendix 4> The route reference point is set on the traveling direction side of a traveling reference point set on the work vehicle, automatically driving the work vehicle based on the driving reference points and the target route; A driving method according to any one of appendix 1 to 3.

[0129] <Appendix 5> The traveling reference point is set constant regardless of the traveling direction. The driving method described in Appendix 4.

[0130] <Appendix 6> the route reference point is set closer to the traveling direction of the work vehicle as the vehicle speed of the work vehicle increases; A driving method according to any one of appendix 1 to 5.

[0131] <Appendix 7> the route reference point is set closer to the traveling direction of the work vehicle as the difference between the traveling direction of the work vehicle and the direction of the reference line increases. A driving method according to any one of appendix 1 to 6.

[0132] <Appendix 8> The route reference point is set to the front side or the rear side of the work vehicle based on the state of a travel direction switching operation tool when starting automatic travel. A driving method according to any one of appendix 1 to 7.

[0133] <Appendix 9> The work vehicle is a harvesting vehicle equipped with a harvesting part on the front side, The route reference point is set at the reaping unit or in front of the reaping unit. A driving method according to any one of appendix 1 to 8. [Explanation of symbols]

[0134] 1: Combine (work vehicle, harvesting vehicle) 2: Running part 3: Reaping part 91: Main shift lever (driving direction change operation device) 11: Control device 30: Operating device 111: Driving processing unit 112: Setting processing section 113: Generation processing unit F: Field R: Target route L:Reference line C1: Driving reference point P1: Route reference point

Claims

1. A method for automatically driving a work vehicle based on a reference line, comprising: Setting a route reference point for the work vehicle based on a traveling direction when the work vehicle starts automatic traveling; automatically driving the work vehicle along a target route that is generated based on the reference line and the route reference points; A driving method to perform the above.

2. The target route is a straight line that passes through the route reference point and is parallel to the reference line. A method of traveling according to claim 1.

3. When the traveling direction is a first direction, the route reference point is set on the first direction side compared to when the traveling direction is a second direction opposite to the first direction. A method of traveling according to claim 1.

4. The route reference point is set on the traveling direction side of a traveling reference point set on the work vehicle, automatically driving the work vehicle based on the driving reference points and the target route; A method of traveling according to claim 1.

5. The traveling reference point is set constant regardless of the traveling direction. A traveling method according to claim 4.

6. the route reference point is set closer to the traveling direction of the work vehicle as the vehicle speed of the work vehicle increases; A method of traveling according to claim 1.

7. the route reference point is set closer to the traveling direction of the work vehicle as the difference between the traveling direction of the work vehicle and the direction of the reference line increases. A method of traveling according to claim 1.

8. The route reference point is set to the front side or the rear side of the work vehicle based on the state of a travel direction switching operation tool when starting automatic travel. A method of traveling according to claim 1.

9. The work vehicle is a harvesting vehicle equipped with a harvesting part on the front side, The route reference point is set at the reaping unit or in front of the reaping unit. A traveling method according to any one of claims 1 to 8.

10. A driving program for automatically driving a work vehicle based on a reference line, Setting a route reference point for the work vehicle based on a traveling direction when the work vehicle starts automatic traveling; automatically driving the work vehicle along a target route that is generated based on the reference line and the route reference points; A running program for causing one or more processors to execute the above.

11. A travel system for automatically traveling a work vehicle based on a reference line, A setting processing unit that sets a route reference point for the work vehicle based on a traveling direction when the work vehicle starts automatic traveling; a driving processing unit that automatically drives the work vehicle along a target route that is generated based on the reference line and the route reference points; A driving system comprising:

Images