Automatic traveling method, automatic traveling program, and automatic traveling system

Abstract

To provide an automatic traveling method, automatic traveling program, and automatic traveling system capable of stabilizing behavior of a work vehicle when switching between straight traveling and turning traveling.SOLUTION: An automatic traveling system 10 causes a combine-harvester 1 to automatically travel along a target path including a straight path and a turning path. When the combine-harvester 1 moves from one of the straight path and the turning path to the other, a setting processing part 112 sets a distance from the combine-harvester 1 to at least one of a straight-traveling target position and a turning target position according to the travel of the combine-harvester 1. A travel processing part 111 causes the combine harvester 1 to travel so as to follow the straight-traveling target position or the turning target position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for automatically driving a work vehicle along a target route. [Background technology]

[0002] Conventionally, a system is known that automatically drives a work vehicle (e.g., a combine harvester) along a preset target route in a farm field. For example, the work vehicle performs a harvesting operation of stalks in a farm field while automatically driving along a straight route and a turning route along the target route from a start position to an end position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-078440 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional systems, for example, when a work vehicle travels along a straight path, a target position is set on an extension of the straight path, causing the work vehicle to travel straight to the end position of the straight path, and when the work vehicle reaches the end position of the straight path (the start position of the turning path), the target position is changed to a position a predetermined distance away on the turning path, causing the work vehicle to turn according to the turning path.

[0005] However, with the above-described driving method, the target position suddenly switches from a position on an extension of the straight path to a position on a turning path, which causes a problem that the steering amount becomes large and the behavior of the work vehicle becomes unstable.

[0006] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that are capable of stabilizing the behavior of a work vehicle when switching between straight-line driving and cornering driving. [Means for solving the problem]

[0007] The automatic driving method of the present invention is an automatic driving method that automatically drives a work vehicle according to a target route including a straight-line route and a turning route, and when the work vehicle moves from one of the straight-line route and the turning route to the other, sets the distance from the work vehicle to at least one of a straight-line target position and a turning target position in accordance with the driving of the work vehicle, and drives the work vehicle to follow the straight-line target position or the turning target position.

[0008] The automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle along a target route, and includes the steps of generating a first straight route, a second straight route connected to the first straight route, and a turning route connected to the second straight route, setting a turning target position on the turning route when the work vehicle reaches the starting position of the second straight route, and driving the work vehicle to follow the turning target position.

[0009] The automatic driving program of the present invention is an automatic driving program that automatically drives a work vehicle along a target route including a straight path and a turning path, and causes one or more processors to execute the following when the work vehicle moves from one of the straight path and the turning path to the other: setting the distance from the work vehicle to at least one of a target position for straight driving and a target position for turning in accordance with the driving of the work vehicle; and driving the work vehicle to follow the target position for straight driving or the target position for turning.

[0010] The automated driving system according to the present invention automatically drives a work vehicle along a target route including a straight path and a turning path. The automated driving system includes a setting processing unit and a driving processing unit. When the work vehicle moves from one of the straight path and the turning path to the other, the setting processing unit sets the distance from the work vehicle to at least one of a straight target position and a turning target position according to the driving of the work vehicle. The driving processing unit drives the work vehicle to follow the straight target position or the turning target position. Effect of the Invention

[0011] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that are capable of stabilizing the behavior of a work vehicle when switching between straight-line driving and cornering driving. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a functional block diagram showing a configuration of an automated driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing an example of an operating procedure of a combine harvester according to an embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing an example of an operating procedure of a combine harvester according to an embodiment of the present invention. [Figure 4C] FIG. 4C is a diagram showing an example of an operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 4D] FIG. 4D is a diagram showing an example of an operating procedure of a combine harvester according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of a traveling method of the combine harvester according to the embodiment of the present invention. [Figure 6]FIG. 6 is a diagram showing an example of a conventional traveling method of a combine harvester. [Figure 7A] FIG. 7A is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 7C] FIG. 7C is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 7D] FIG. 7D is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a traveling method of the combine harvester according to the first 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 first embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a traveling method of the combine harvester according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a traveling method of the combine harvester according to the second embodiment of the present invention. [Figure 12A] FIG. 12A is a diagram showing an example of a traveling method of the combine harvester according to the second embodiment of the present invention. [Figure 12B] FIG. 12B is a diagram showing an example of a traveling method of the combine harvester according to the second embodiment of the present invention. [Figure 12C] FIG. 12C is a diagram showing an example of a traveling method of the combine harvester according to the second embodiment of the present invention. [Figure 12D] FIG. 12D is a diagram showing an example of a traveling method of the combine harvester according to the second embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing an example of a traveling method of the combine harvester according to the third embodiment of the present invention. [Figure 14B]FIG. 14B is a diagram showing an example of a traveling method of the combine harvester according to the third embodiment of the present invention. [Figure 14C] FIG. 14C is a diagram showing an example of a traveling method of the combine harvester according to the third embodiment of the present invention. [Figure 14D] FIG. 14D is a diagram showing an example of a traveling method of the combine harvester according to the third embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing an example of a traveling method of the combine harvester according to the fourth embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing an example of a traveling method of the combine harvester according to the fourth embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a traveling method of the combine harvester according to the fifth embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a traveling method of the combine harvester according to the seventh embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0014] [Autonomous Driving System 10] A combine harvester 1 will be described as an example of a work vehicle of the present invention. As shown in Fig. 1, an automatic driving system 10 according to an embodiment of the present invention includes the combine harvester 1 and an operation terminal 3. The combine harvester 1 and the operation terminal 3 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 3 can communicate with each other via a mobile phone line network, a packet line network, or a wireless LAN.

[0015] The combine harvester 1 is a work vehicle that performs agricultural work such as harvesting in a field. The combine harvester 1 performs work while traveling, and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, i.e., the vehicle position (current position Pv (see FIG. 5, etc.)) of the combine harvester 1 to the operation terminal 3 as measurement point data.

[0016] The combine harvester 1 can automatically travel according to a preset target route. The combine harvester 1 also receives various setting information from the operation terminal 3 and automatically travels according to the setting information.

[0017] The operation terminal 3 is a mobile terminal capable of remotely operating the combine harvester 1, and is configured, for example, as a tablet terminal, a notebook personal computer, a smartphone, etc. Note that an operation device similar to the operation terminal 3 may be mounted on the combine harvester 1.

[0018] An operator can set various setting items on the operation terminal 3. The operation terminal 3 also displays information such as the work status and running status of the combine harvester 1 during automatic running. The operator can grasp the work status and running status on the operation terminal 3.

[0019] FIG. 3 shows an example of a target route R generated for a field F. For example, the combine harvester 1 performs mowing work ("circular mowing", "reciprocating mowing") while traveling from the outer periphery to the inner periphery in the field F according to the target route R from a start position S to an end position G. Specifically, in an outer periphery area F1 on the outer periphery of the field F, the combine harvester 1 performs mowing work while traveling along the edge of the field (outer periphery). Also, in an inner periphery area F2 on the inner periphery of the field F, the combine harvester 1 performs mowing work while traveling straight in the up-down direction of FIG. 3, and moves between work routes by turning and traveling straight in the left-right direction without performing mowing work.

[0020] An example of the operation procedure of the combine harvester 1 will be described with reference to FIG. 4. First, as shown in FIG. 4A, the combine harvester 1 starts automatic travel at the start position S and travels along the outer periphery of the field F while harvesting the stalks. After threshing the harvested stalks, the combine harvester 1 discharges waste straw such as straw chips to the outside from the rear of the machine body. As a result, as shown in FIG. 4B, waste straw B1 is piled up in the travel trail of the combine harvester 1, and a straw row is formed on the path where the combine harvester 1 has finished harvesting work. 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.

[0021] As shown in Fig. 4C, the combine 1 makes two revolutions around the outer peripheral area F1. In this case, two straw rows are formed, and a predetermined gap (a worked area where no straw B1 exists) is formed between the straw rows of the first and second revolutions. The number of revolutions around the outer peripheral area F1 is not limited to two, and may be one or three or more revolutions.

[0022] When the combine harvester 1 finishes the reaping work in the outer peripheral area F1, it enters the inner peripheral area F2 and starts the reaping work in the inner peripheral area F2. In the inner peripheral area F2, as shown in FIG. 4D, the combine harvester 1 performs the reaping work while traveling straight in the vertical direction, and moves between the work paths by turning and traveling straight in the outer peripheral area F1 (worked area, headland area) without performing the reaping work in the horizontal direction. The combine harvester 1 performs the reaping work in the inner peripheral area F2, and ends the automatic traveling and reaping work when it reaches the end position G.

[0023] The target path R includes a straight path and a turning path. The straight path includes a straight path (working path) along which the combine harvester 1 travels straight while working, and a straight path (non-working path) along which the combine harvester 1 travels straight without working. The turning path includes a turning path (working path) along which the combine harvester 1 travels turning while working, and a turning path (non-working path) along which the combine harvester 1 travels turning without working. As shown in FIG. 4D, when work is performed in the inner peripheral area F2 after work in the outer peripheral area F1 is completed, the straight path in the inner peripheral area F2 corresponds to the working path, and the turning path and straight path outside the inner peripheral area F2 correspond to the non-working path.

[0024] Here, a target position is set in the combine harvester 1 as a landmark for automatic travel along the target route R. Fig. 5 shows an example of a travel method of the combine harvester 1. Fig. 5 shows a target route R1 for the work route and a target route R2 for the non-work route, as well as a straight route Vra (work route), a turning route r2 (non-work route), a straight route r3 (non-work route), a turning route r4 (non-work route), and a straight route Vrb (work route).

[0025] In the example shown in FIG. 5, the combine harvester 1 performs a reaping operation while traveling straight along the straight path Vra, and when it reaches an end position Pe of the straight path Vra (start position P1 of the turning path r2), it stops the reaping operation and turns along the turning path r2. Next, when the combine harvester 1 reaches an end position P2 of the turning path r2 (start position of the straight path r3), it switches to straight traveling. Next, when the combine harvester 1 reaches an end position P3 of the straight path r3 (start position of the turning path r4), it switches to turning traveling. Next, when the combine harvester 1 reaches an end position P4 of the turning path r4 (start position Ps of the straight path Vrb), it switches to straight traveling and resumes the reaping operation.

[0026] In the above-mentioned travel procedure, the combine harvester 1 travels along the target route R so as to follow a target position that is set at a position a predetermined distance away from the current position Pv in the travel direction. For example, as shown in FIG. 5, when the combine harvester 1 travels along the straight route Vra, a straight-travel target position Px (forward gaze point) is set at a position a distance L1 away from the current position Pv in the travel direction. As shown in FIG. 5, when the current position Pv of the combine harvester 1 is close to the terminal position Pe of the straight route Vra, the straight-travel target position Px is set on an extension line of the straight route Vra. The combine harvester 1 travels along the straight route Vra of the target route R so as to follow the straight-travel target position Px.

[0027] Also, as shown in Fig. 6, for example, when the combine harvester 1 travels along a turning path r2, a turning target position Py (forward gaze point) is set at a position away from the current position Pv in the direction of travel by a distance L2. The combine harvester 1 travels along the turning path r2 of the target path R so as to follow the turning target position Py. By setting the target positions (straight-line target position Px, turning target position Py) based on the current position Pv of the combine harvester 1, it becomes possible to automatically run the combine harvester 1 along the target path R.

[0028] Here, in a traveling method in which a target position is set and the combine harvester 1 is automatically traveling along a target route R, in a conventional system, the straight-line target position Px suddenly switches from a position on an extension line of the straight-line route Vra to a position on a turning route r2, which causes a problem that the steering amount becomes large and the behavior of the combine harvester 1 becomes unstable. For example, as shown in FIG. 6, when the combine harvester 1 reaches the end position Pe of the straight-line route Vra (the start position P1 of the turning route r2), the target position switches from the straight-line target position Px to the turning target position Py. In this case, the behavior of the combine harvester 1 becomes unstable due to the sudden steering at the start position P1 of the turning route r2 to follow the turning target position Py. To address the above problem, the automatic traveling system 10 according to this embodiment has a configuration capable of stabilizing the behavior of the combine harvester 1 when switching between straight-line traveling and turning traveling. Hereinafter, specific configurations of the combine harvester 1 and the operation terminal 3 for realizing the above configuration will be described.

[0029] [Operation terminal 3] 1, the operation terminal 3 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 3 is, for example, a tablet terminal.

[0030] The communication unit 34 is a communication interface for connecting the operation terminal 3 to the communication network N1 via a wired or wireless connection, and for performing data communication in accordance with a predetermined communication protocol with one or more external devices such as a combine 1 via the communication network N1.

[0031] The operation display unit 33 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can operate the operation unit to register various setting information on the operation screen displayed on the display unit. The operator can also operate the operation unit to give automatic travel instructions to the combine harvester 1. Furthermore, the operator can grasp the travel state of the combine harvester 1 traveling automatically within the field F from the travel trajectory displayed on the operation terminal 3 at a location away from the combine harvester 1.

[0032] The storage unit 32 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 32 stores a control program for causing the operation control unit 31 to execute a predetermined control process. For example, the control 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) provided in the operation terminal 3 and stored in the storage unit 32. The control program may be downloaded from a server (not shown) to the operation terminal 3 via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0033] In addition, a dedicated application for automatically driving the combine harvester 1 is installed in the storage unit 32. The operation control unit 31 starts up the dedicated application to perform setting processing of various setting information related to the combine harvester 1, and to instruct the combine harvester 1 to automatically drive.

[0034] The operation control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. 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 processing 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 operation control unit 31 controls the operation terminal 3 by executing various control programs stored in advance in the ROM or the storage unit 32 by the CPU.

[0035] As shown in Fig. 1, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. The operation control unit 31 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0036] The setting processing unit 311 sets various setting information for the combine harvester 1 to travel automatically. Specifically, the setting processing unit 311 sets field information related to the field. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the outermost periphery of the field, measurement point data constituting the outermost periphery of the field, and the shape, size, and position information (coordinates, etc.) of a work area in the field where work is performed. The field information also includes the address of the field, the registration name and registration date of the field information, the registration name and registration date of the work area in the field, etc. The setting processing unit 311 accepts a registration operation of the field information by the operator and sets the field information.

[0037] The setting processing unit 311 also generates a target route including a work route and a turning route. For example, the worker selects a route pattern, a turning type, and the like on a setting screen (not shown). The route patterns include "reciprocating mowing," which involves multiple round trips, and "circular mowing," which involves repeating a circuit of a route along the inner periphery of a work area in a farm field while shifting toward the center, and the worker selects one of the route patterns. The worker can also correct the turning radius when turning during reciprocating mowing and circular mowing work on the setting screen.

[0038] Furthermore, the setting processing unit 311 generates a work route based on information such as the field information, the route pattern, the turning type, the turning radius, etc. The setting processing unit 311 registers the generated work route in association with the field.

[0039] Furthermore, the setting processing unit 311 sets the traveling speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight vehicle speed, turning vehicle speed, and reverse vehicle speed during working and non-working on the setting screen.

[0040] In addition to the above-mentioned information, the setting processing unit 311 sets well-known information such as the type of combine 1 (maximum number of cutting rows), vehicle width, and vehicle length.

[0041] The output processing unit 312 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, the output processing unit 312 outputs a work start instruction and a work end instruction to the combine harvester 1 based on an operation by an operator.

[0042] When the operation control unit 31 receives the work start instruction operation from the operator, the output processing unit 312 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 acquires the work start instruction from the operation terminal 3. Upon acquiring the work start instruction, the control device 11 starts the work and running of the combine harvester 1. Furthermore, when the operation control unit 31 receives the work stop instruction operation from the operator, the output processing unit 312 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 acquires the work stop instruction from the operation terminal 3. Upon acquiring the work stop instruction, the control device 11 stops the work and running of the combine harvester 1.

[0043] The operation terminal 3 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 3 can function as an operation terminal for the server by executing a browser program by the operation control unit 31. The server includes the above-mentioned processing units and executes each process.

[0044] [Combine 1] FIG. 2 shows an external view of the combine harvester 1 seen from the side. As shown in FIG. 1 and FIG. 2, the combine harvester 1 includes a threshing section 4, a sorting section 5, a straw waste processing section 6, a power section 8, a steering section 9, a control device 11, a memory section 12, a positioning unit 13, a traveling section 14, a reaping section 15, a storage section 16, a communication section 17, and the like. The combine harvester 1 is a so-called head-feeding type combine harvester. The combine harvester 1 travels on the traveling section 14, threshes the stalks harvested by the reaping section 15 in the threshing section 4, sorts the grains in the sorting section 5, and stores them in the storage section 16. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 6. The combine harvester 1 drives the traveling section 14, the reaping section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw waste processing section 6 by the power supplied by the power section 8.

[0045] The traveling unit 14 is provided below the machine frame 29, and includes a pair of left and right crawler-type traveling devices 2, and a transmission (not shown). The traveling unit 14 rotates the crawlers of the crawler-type traveling devices 2 using power (e.g., rotational power) transmitted from the engine 27 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 2, and can also change the speed of the rotational power.

[0046] The reaping unit 15 is provided in front of the traveling unit 14, and performs reaping work on rows within the number of reaping rows. The reaping unit 15 includes a divider 28, a lifting device 20, a cutting device 23, a transport device 7, and a cutting height detection device 40.

[0047] The cutting height detection device 40 detects the height of the cutting unit 15. The control device 11 operates a drive unit (such as a hydraulic cylinder) of the cutting unit 15 to adjust the working height so as to maintain the working height detected by the cutting height detection device 40 at a set height.

[0048] The divider 28 divides the culms in the field row by row and guides a predetermined number of culms within the number of harvestable rows to the raising device 20. The raising device 20 raises the culms guided by the divider 28. The cutting device 23 cuts the culms raised by the raising device 20. The conveying device 7 conveys the culms cut by the cutting device 23 to the threshing section 4.

[0049] The threshing unit 4 is provided behind the reaping unit 15. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stew transported from the transport device 7 of the reaping unit 15 for threshing, and further transports the threshed stew, i.e., waste straw, to the straw waste processing unit 6. The threshing drum 19 threshes the stew transported by the feed chain 18.

[0050] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have dropped from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 16. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the outside of the machine.

[0051] The storage section 16 is provided to the right of the threshing section 4. The storage section 16 includes a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the storage tank 24 to a transport vehicle at a predetermined discharge position in the field F.

[0052] The straw waste processing section 6 is provided behind the threshing section 4. The straw waste processing section 6 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine. The straw waste processing section 6 discharges the straw waste from the harvested stump to the position of the stump to be harvested. In this way, the combine harvester 1 harvests the stump while traveling and discharges the straw waste B1 to the rear outside the machine, so that the straw waste B1 is piled up in rows in the wake of the combine harvester 1 (see Figures 4 and 5).

[0053] The power unit 8 is provided above the traveling unit 14 and in front of the storage unit 16. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 14, the reaping unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

[0054] The control unit 9 is provided above the power unit 8. Around the driver's seat where the operator sits, the control unit 9 is provided with a handle for instructing the turning of the body of the combine harvester 1, a main speed change lever and an auxiliary speed change lever for instructing a change in the forward and backward speed of the combine harvester 1, and the like, as operating tools for operating the traveling of the combine harvester 1. The manual traveling of the combine harvester 1 is performed by the traveling unit 14 that receives the operation of the handle, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also includes mechanisms for operating the reaping work by the reaping unit 15, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 16, and the like.

[0055] The positioning unit 13 acquires the vehicle position of the combine harvester 1 by using a satellite positioning system such as GPS. For example, the positioning unit 13 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 13, i.e., the vehicle position (measurement point data) of the combine harvester 1, based on the positioning signal. The positioning unit 13 may be configured with a quantum compass instead of a positioning antenna.

[0056] The communication unit 17 (see Figure 1) is a communication interface for connecting the combine 1 to the communication network N1 via a wired or wireless connection, and for performing data communication between the combine 1 and external devices such as the operation terminal 3 via the communication network N1 in accordance with a predetermined communication protocol.

[0057] The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 12 stores a control program such as an automatic travel program for causing the control device 11 to execute an automatic travel process (see FIG. 13) described later. For example, the automatic 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 12. The automatic 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 12. The storage unit 12 also stores various setting information acquired from the operation terminal 3.

[0058] 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 1 by executing, by the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0059] Specifically, as shown in Fig. 1, the control device 11 includes various processing units such as a driving processing unit 111 and a setting processing unit 112. The control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0060] The travel processing unit 111 automatically travels the combine harvester 1 according to a target route R set for the field F. Specifically, the travel processing unit 111 travels the combine harvester 1 according to a plurality of work routes included in the target route R along which the combine harvester 1 performs a predetermined task (reap task) and a turning route connecting the plurality of work routes. For example, the travel processing unit 111 acquires various setting information to be set for the field F from the operation terminal 3. In addition, during the reap task, the travel processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8, the travel unit 14, and the reaper unit 15 based on the vehicle position and the work route included in the target route R so that the combine harvester 1 automatically travels and performs reap task along the work route.

[0061] For example, as shown in FIG. 3, the driving processing unit 111 causes the combine 1 to perform automatic driving and mowing work along the outer periphery in the outer periphery area F1 from the starting position S, and then performs automatic driving and mowing work to the end position G in the inner periphery area F2.

[0062] The setting processing unit 112 sets a target position (forward gaze point) that serves as a target (marker) when the combine harvester 1 is automatically traveling. Specifically, the setting processing unit 112 preregisters a straight-line target position Px for causing the combine harvester 1 to travel straight and a turning target position Py for causing the combine harvester 1 to travel turning. For example, the setting processing unit 112 sets and registers the straight-line target position Px at a position L1 (e.g., 5 m) away from the center position (current position Pv) (reference position) of the combine harvester 1, and sets and registers the turning target position Py at a position L2 (e.g., 2 m) away from the center position (current position Pv) of the combine harvester 1. When the combine harvester 1 starts automatic traveling, the setting processing unit 112 switches between the straight-line target position Px and the turning target position Py that have been registered in advance, based on the current position of the combine harvester 1. The travel processing unit 111 automatically travels the combine 1 so as to follow the straight-line target position Px or the turning target position Py.

[0063] Here, the setting processing unit 112 sets the target position so that the steering amount does not change suddenly when the combine harvester 1 moves from a straight path to a turning path. Specific examples of a method for setting the target position and a method for running the combine harvester 1 will be described below.

[0064] [First Example] In the first embodiment, the combine harvester 1 travels along a target route R1 of the work route and a target route R2 of the non-work route, as shown in Fig. 5. Specifically, the combine harvester 1 travels along a straight route Vra of the work route, a turning route r2, a straight route r3, and a turning route r4 of the non-work route, and a straight route Vrb of the work route, in this order.

[0065] The combine harvester 1 travels along the straight - ahead path Vra so as to follow the straight - ahead target position Px (see Fig. 5). As shown in Fig. 7A, when it reaches the end position Pe of the straight - ahead path Vra (the start position P1 of the turning path r2), the setting processing unit 112 sets the turning target position Py at a position on the turning path r2 that is at a distance L21 shorter than a preset distance L2 (L21 < L2, for example, 1 m). The traveling processing unit 111 causes the combine harvester 1 to turn so as to follow the turning target position Py at a distance L21. In this way, when the combine harvester 1 switches from straight - ahead traveling to turning, by setting the turning target position Py at a position at a distance L21 shorter than the preset distance L2, the steering amount can be made smaller than when the turning target position Py is set at a position at the preset distance L2 (see Fig. 6). Therefore, the behavior of the combine harvester 1 can be stabilized.

[0066] Subsequently, when the combine harvester 1 starts turning on the turning path r2 so as to follow the turning target position Py (when the current position Pv moves onto the turning path r2), the setting processing unit 112 sets the turning target position Py at a position on the turning path r2 that is shorter than the distance L2 and longer than the distance L21 (L21 < L22 < L2), as shown in Fig. 7B. The traveling processing unit 111 causes the combine harvester 1 to turn so as to follow the turning target position Py at a distance L22.

[0067] Subsequently, when the combine harvester 1 moves along the turning path r2, the setting processing unit 112 sets the turning target position Py at a position on the turning path r2 that is shorter than the distance L2 and longer than the distance L22 (L21 < L22 < L23 < L2), as shown in Fig. 7C. The traveling processing unit 111 causes the combine harvester 1 to turn so as to follow the turning target position Py at a distance L23.

[0068] In this way, the setting processing unit 112 smoothly moves the turning target position Py forward between the distances L21 and L2 according to the travel of the combine harvester 1. For example, the setting processing unit 112 sets the distance from the combine harvester 1 to the turning target position Py according to the distance from the terminal position Pe of the straight path Vra to the combine harvester 1 moving toward the traveling direction. Also, the setting processing unit 112 sets the distance from the combine harvester 1 to the turning target position Py to be longer as the distance from the terminal position Pe of the straight path Vra to the combine harvester 1 moving toward the traveling direction becomes longer. Also, the setting processing unit 112 sets the distance from the combine harvester 1 to the turning target position Py within a range of less than the distance L2, which is shorter than the distance L1 from the combine harvester 1 to the straight path target position Px.

[0069] The setting processing unit 112 may move the turning target position Py from the distance L21 to L2 during a preset time. The setting processing unit 112 may set the movement amount of the turning target position Py according to the vehicle speed.

[0070] Next, when the combine harvester 1 moves along the turning path r2, the setting processing unit 112 sets the turning target position Py at a position of the distance L2 on the turning path r2 as shown in Fig. 7D. The travel processing unit 111 causes the combine harvester 1 to travel in a turning motion so as to follow the turning target position Py at the distance L2.

[0071] Next, when the combine 1 turns along the turning path r2 and the turning target position Py reaches the terminal position P2 of the turning path r2 (the start position of the straight path r3) (see FIG. 8), the setting processing unit 112 sets the straight path target position Px on the straight path r3. As shown in FIG. 8 and FIG. 9, the traveling processing unit 111 makes the combine 1 turn so as to follow the turning target position Py (L2=2m) until the vehicle body of the combine 1 gets on the straight path r3 (until the current position Pv moves onto the straight path r3). ​​In addition, when the combine 1 reaches the terminal position P2 of the turning path r2 (the start position of the straight path r3), the traveling processing unit 111 makes the combine 1 travel straight so as to follow the straight path target position Px as shown in FIG. 9.

[0072] Here, as shown in FIG. 9, when the combine 1 reaches the end position P2 of the turning path r2 (the starting position of the straight path r3), if the turning target position Py has not reached the starting position P3 of the turning path r4 and the straight-line target position Px has reached (passed) the starting position P3 of the turning path r4, the setting processing unit 112 sets the straight-line target position Px on the extension of the straight-line path r3, and the running processing unit 111 causes the combine 1 to run straight so as to follow the straight-line target position Px.

[0073] In contrast, as shown in Figure 10, when the combine 1 reaches the end position P2 of the turning path r2 (the start position of the straight path r3) and the turning target position Py has reached (passed) the start position P3 of the turning path r4, the setting processing unit 112 sets the turning target position Py on the turning path r4, and the running processing unit 111 causes the combine 1 to turn and run so as to follow the turning target position Py.

[0074] When the combine harvester 1 moves from the turning path r4 to the straight path Vrb, the combine harvester 1 travels in a manner similar to the traveling method shown in FIGS.

[0075] [Second Example] In the second embodiment, as shown in FIG. 11, the combine 1 travels in the following order: the straight path Vra of the work path, the straight path r1 of the non-work path, the turning path r2, the straight path r3, and the turning path r4 of the non-work path, the straight path r5 of the non-work path, and the straight path Vrb of the work path. That is, the straight path r1 of the non-work path is added between the straight path Vra and the turning path r2, and the straight path r5 of the non-work path is added between the turning path r4 and the straight path Vrb to the target path in the second embodiment. The straight paths r1 and r5 are set to lengths equal to or greater than the minimum length that allows the combine 1 to enter the work area (inner peripheral area F2) in a straight manner when entering the work area. The straight paths r1 and r5 may also be set to lengths corresponding to the width of the outer peripheral area F1, for example. In addition, the straight paths r1 and r5 may be set to a length corresponding to the vehicle length of the combine harvester 1, for example.

[0076] The combine 1 travels along the straight - ahead path Vra so as to follow the straight - ahead target position Px (see Fig. 11). As shown in Fig. 12A, when the combine reaches the end position Pe of the straight - ahead path Vra (the start position of the straight - ahead path r1), and when the turning target position Py is located on the turning path r2 (when the preset distance L2 is longer than the length of the straight - ahead path r1), the setting processing unit 112 sets the turning target position Py at a position with a distance L21 shorter than the distance L2 (L21 < L2). Here, the setting processing unit 112 sets the distance L21 of the turning target position Py to the lengths of the straight - ahead paths r1 and r5. That is, when the current position Pv of the combine 1 reaches the end position Pe of the straight - ahead path Vra (the start position of the straight - ahead path r1), the setting processing unit 112 sets the turning target position Py to the end position P1 of the straight - ahead path r1 (the start position of the turning path r2) (see Fig. 12A). The traveling processing unit 111 causes the combine 1 to perform a turning travel so as to follow the turning target position Py at a distance L21. In this way, when the combine 1 switches from straight - ahead travel to turning travel, by setting the turning target position Py at a position with a distance L21 shorter than the preset distance L2, the steering amount can be made smaller than when the turning target position Py is set at the position of the preset distance L2 (see Fig. 6).

[0077] Subsequently, when the combine 1 starts turning travel so as to follow the turning target position Py, as shown in Fig. 12B, on the turning path r2, the setting processing unit 112 sets the turning target position Py at a position with a distance L22 shorter than the distance L2 and longer than the distance L21 (L21 < L22 < L2). The traveling processing unit 111 causes the combine 1 to perform a turning travel so as to follow the turning target position Py at a distance L22. For example, the traveling processing unit 111 causes the combine 1 to perform a turning travel inside the straight - ahead path r1 so as to follow the turning target position Py.

[0078] Subsequently, when the combine 1 turns so as to follow the turning target position Py, as shown in FIG. 12C, the setting processing unit 112 sets the turning target position Py at a position on the turning path r2 that is shorter than the distance L2 and longer than the distance L22 (L21 < L22 < L23 < L2). The traveling processing unit 111 causes the combine 1 to turn so as to follow the turning target position Py at the distance L23.

[0079] Subsequently, when the combine 1 reaches the end position P1 of the straight traveling path r1 (the start position of the turning path r2), as shown in FIG. 12D, the setting processing unit 112 sets the turning target position Py at a position on the turning path r2 that is at the distance L2. The traveling processing unit 111 causes the combine 1 to turn so as to follow the turning target position Py at the distance L2. The traveling method after the turning path r2 is the same as that in the first embodiment.

[0080] In this way, the setting processing unit 112 smoothly moves the turning target position Py forward according to the traveling of the combine 1 between the distances L21 and L2. That is, the setting processing unit 112 increases the distance of the turning target position Py as the combine 1 moves from the start position of the turning path r2 toward the traveling direction side. Further, when the combine 1 reaches the start position of the straight traveling path r1, the setting processing unit 112 sets the turning target position Py at the start position P1 of the turning path r2 (see FIG. 12A). Further, the setting processing unit 112 smoothly moves the turning target position Py from the distance L21 to L2 while the combine 1 moves from the start position to the end position of the straight traveling path r1.

[0081] When the combine 1 reaches the end position Pe of the straight path Vra (the start position of the straight path r1), if the turning target position Py is located on the straight path r1 (if the distance L2 is shorter than the length of the straight path r1), the setting processing unit 112 sets the turning target position Py of the distance L2 to the start position P1 when the combine 1 advances further and the turning target position Py of the distance L2 reaches the start position P1 of the turning path r2 (the end position of the straight path r1). In this case, the travel processing unit 111 makes the combine 1 turn so as to follow the turning target position Py of the distance L2.

[0082] According to the second embodiment, as in the first embodiment, the amount of steering can be reduced when the combine harvester 1 switches from straight running to turning, thereby stabilizing the behavior of the combine harvester 1. Also, according to the second embodiment, the combine harvester 1 can enter or exit the work path straight, thereby preventing the stalks to be harvested from being trampled or left unharvested.

[0083] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 10 will be described with reference to FIG.

[0084] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is produced. Furthermore, although an example is described here in which the control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner. The operation control method of the present invention is included in the automatic driving method, and the operation control program of the present invention is included in the automatic driving program that executes the automatic driving process.

[0085] The automatic driving process corresponding to the second embodiment will be described below.

[0086] In step S1, the control device 11 judges whether or not a work start instruction has been acquired. When the control device 11 acquires the work start instruction from the operation terminal 3 (S1: Yes), the control device 11 shifts the process to step S2. The control device 11 waits until the work start instruction is acquired (S1: No).

[0087] In step S2, the control device 11 starts the automatic travel processing. Specifically, the control device 11 causes the combine 1 to automatically travel according to a target route R included in the setting information acquired from the operation terminal 3.

[0088] Next, in step S3, the control device 11 causes the combine harvester 1 to travel straight along the straight path r1. For example, the control device 11 causes the combine harvester 1 to perform work (harvesting work) while automatically traveling along the straight path Vra in the inner peripheral area F2 (see FIG. 5) of the field F (see FIG. 11). The control device 11 may be capable of accepting operation of a main shift lever by an operator riding on the combine harvester 1. In this case, the control device 11 changes the vehicle speed of the automatically traveling combine harvester 1 in response to the operator's operation.

[0089] Next, in step S4, the control device 11 determines whether the combine 1 has reached the end position Pe of the straight path Vra. If the control device 11 determines that the combine 1 (current position Pv) has reached the end position Pe of the straight path Vra (S4: Yes), the control device 11 shifts the process to step S5. The control device 11 continues the straight travel of the combine 1 (current position Pv) on the straight path Vra until it reaches the end position Pe of the straight path Vra (S4: No).

[0090] In step S5, the control device 11 sets a turning target position Py at a position of a distance L21 (L21 < L2) (first distance) shorter than a preset distance L2 (see FIG. 12A). Further, the control device 11 sets the distance L21 of the turning target position Py to the lengths of the straight travel paths r1 and r5. The control device 11 causes the combine 1 to turn so as to follow the turning target position Py.

[0091] Next, in step S6, the control device 11 moves the turning target position Py forward according to the travel distance of the combine 1. That is, the control device 11 increases the distance from the combine 1 to the turning target position Py as the combine 1 travels forward (see FIGS. 12B and 12C). The control device 11 causes the combine 1 to turn so as to follow the turning target position Py whose distance is changing.

[0092] Next, in step S7, the control device 11 sets the turning target position Py at the position of the preset distance L2. For example, as shown in FIG. 12D, when the combine 1 reaches the end position P1 of the straight travel path r1 (the start position of the turning path r2), the control device 11 sets the turning target position Py at the position of the distance L2 on the turning path r2. The control device 11 causes the combine 1 to turn so as to follow the turning target position Py at the distance L2.

[0093] Next, in step S8, the control device 11 determines whether or not the turning target position Py has reached the end position P2 of the turning path r2 (the start position of the straight travel path r3). When the control device 11 determines that the turning target position Py has reached the end position P2 of the turning path r2 (S8: Yes), the process proceeds to step S9. The control device 11 causes the combine 1 to turn so as to follow the turning target position Py until the turning target position Py reaches the end position P2 of the turning path r2 (S8: No).

[0094] In step S9, the control device 11 sets a straight travel target position Px. The control device 11 causes the combine 1 to travel straight along the straight travel path r3 so as to follow the straight travel target position Px.

[0095] In step S10, the control device 11 determines whether the combine harvester 1 has reached the end position G (see FIG. 5). If the control device 11 determines that the combine harvester 1 has reached the end position G (S10: Yes), the control device 11 ends the automatic travel processing. If the control device 11 determines that the combine harvester 1 has not reached the end position G (S10: No), the control device 11 shifts the processing to step S4. The control device 11 repeatedly executes the above-mentioned processing until the combine harvester 1 reaches the end position G (S10: No).

[0096] In this way, the control device 11 repeatedly executes the above-mentioned process from the start position S to the end position G, and automatically drives the combine 1 along the target route R while switching between the straight-line target position Px and the turning target position Py.

[0097] As described above, the automatic driving system 10 according to this embodiment automatically drives the combine harvester 1 (work vehicle) along a target route R including a straight route and a turning route. When the combine harvester 1 reaches the end position of the straight route, the automatic driving system 10 sets a turning target position Py at a position on the turning route that is a first distance away from the combine harvester 1, and when the combine harvester 1 moves toward the traveling direction from the end position, the automatic driving system 10 sets a turning target position Py at a position on the turning route that is a second distance away from the combine harvester 1 that is longer than the first distance. Then, the automatic driving system 10 drives the combine harvester 1 to follow the turning target position Py.

[0098] According to the above configuration, when the combine harvester 1 switches from straight running to turning running, the left and right movement amount of the target position (left and right movement amount from the straight running target position Px to the turning target position Py) is smaller than that of the conventional configuration (see FIG. 6). Therefore, the steering amount when switching from straight running to turning running is small. Also, according to the above configuration, the distance of the turning target position Py gradually increases as the combine harvester 1 travels. In this way, by setting the turning target position Py so that the steering amount is small at the start of turning and increasing the distance of the turning target position Py according to the turning travel distance, the combine harvester 1 can be turned smoothly, and the behavior of the combine harvester 1 can be stabilized.

[0099] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0100] [Third Example] When moving from the turning path to the straight path of the work path, there are cases where it is required to turn the body of the combine harvester 1 parallel to the straight path as early as possible. For example, when the headland area of ​​the field F is narrow or it is difficult to secure a turning area, it is desirable to place the combine harvester 1 on the straight path r5 as early as possible when moving the combine harvester 1 from the turning path r4 to the straight path Vrb.

[0101] In this case, the control device 11 may set the distances of the straight-ahead target position Px and the turning target position Py according to the above requirements. For example, when the operator sets the traveling mode to the "insensitive mode", the control device 11 sets the distance L2 of the turning target position Py to be shorter than the distance L1 (set distance) of the straight-ahead target position Px. For example, the control device 11 sets the distance L2 of the turning target position Py to 2 m and the distance L1 of the straight-ahead target position Px to 5 m (corresponding to the first and second embodiments described above). On the contrary, for example, when the operator sets the traveling mode to the "sensitive mode", the control device 11 sets the distance L1 of the straight-ahead target position Px to be shorter than the distance L2 of the turning target position Py. For example, the control device 11 sets the distance L2 of the turning target position Py to 2 m and the distance L1 of the straight-ahead target position Px to 1 m.

[0102] An example of the traveling method of the combine 1 when the traveling mode is set to the "sensitive mode" will be described. For example, as shown in FIG. 14A, when the combine 1 makes a turning travel along the turning path r4 and the straight-ahead target position Px at a distance L1 (1 m) reaches the extension line of the straight-ahead path r5, the setting processing unit 112 switches the target position from the turning target position Py to the straight-ahead target position Px.

[0103] Here, when the target position switches from the turning target position Py at a distance L2 (2 m) to the straight-ahead target position Px at a distance L1 (1 m), as shown in FIG. 14A, the left and right movement amounts of the target position (the left and right movement amounts from the turning target position Py to the straight-ahead target position Px) increase, and the behavior of the combine 1 becomes unstable.

[0104] Therefore, the setting processing unit 112 sets the straight-ahead target position Px at a position of a distance L11 (L1 < L11 < L2) that is longer than L1 and shorter than the distance L2 of the turning target position Py (see FIG. 14B). The traveling processing unit 111 makes the combine 1 travel straight so as to follow the straight-ahead target position Px at the distance L11.

[0105] Subsequently, when the combine 1 travels straight so as to follow the straight-ahead target position Px, as shown in Fig. 14C, on the straight path r5, the straight-ahead target position Px is set at a position where the distance L12 is longer than the distance L1 and shorter than the distance L11 (L1 < L12 < L11 < L2). The traveling processing unit 111 causes the combine 1 to travel straight so as to follow the straight-ahead target position Px at the distance L12.

[0106] Subsequently, when the combine 1 gets on the extension line of the straight path r5, the setting processing unit 112 sets the length of the straight-ahead target position Px to a preset distance L1. The traveling processing unit 111 causes the combine 1 to travel straight so as to follow the straight-ahead target position Px at the distance L1. Note that the setting processing unit 112 may set the distance L1 of the straight-ahead target position Px to an initial value (for example, 5 m) when the combine 1 gets on the extension line of the straight path r5. Further, the setting processing unit 112 may gradually change the distance of the straight-ahead target position Px from 1 m to 5 m according to the traveling of the combine 1.

[0107] In this way, when the straight-ahead target position Px at the preset distance L1 (set distance) reaches the end position P4 of the turning path r4, the setting processing unit 112 sets the straight-ahead target position Px at a position where the distance L11 is shorter than the distance L2 from the combine 1 to the turning target position Py on the straight path r5 or on the extension line of the straight path r5 (see Fig. 14B). When the combine 1 moves toward the end position P4 side, the setting processing unit 112 sets the straight-ahead target position Px at a position where the distance is shorter than the distance L11 by the distance L12 from the combine 1 on the straight path r5 or on the extension line of the straight path r5 (see Fig. 14C).

[0108] According to the above configuration, the steering amount when switching from turning travel to straight travel can be reduced, so that the behavior of the combine 1 can be stabilized. Further, by setting to the "sensitive mode", the vehicle orientation of the combine 1 can be directed toward the next work path earlier.

[0109] The setting processing unit 112 may automatically set the "sensitive mode" or "insensitive mode" depending on, for example, the width of the headland area or the length of the straight path r5 of the non-work path.

[0110] As described above, the combine harvester 1 according to the above-mentioned first to third embodiments sets the distance from the combine harvester 1 to at least one of the straight-line target position Px and the turning target position Py according to the travel of the combine harvester 1 when the combine harvester 1 moves from one of the straight-line path and the turning path to the other, and causes the combine harvester 1 to travel so as to follow the straight-line target position Px or the turning target position Py. Note that the combine harvester 1 may set the distance of the turning target position Py to be shorter than the preset distance L2 according to the travel of the combine harvester 1.

[0111] [Fourth Example] In the second embodiment described above, a straight path r1 of a non-work path is added between the straight path Vra and the turning path r2, a straight path r5 of a non-work path is added between the turning path r4 and the straight path Vrb, and the turning target position Py is smoothly changed from the distance L21 to the distance L2 according to the traveling of the combine harvester 1. In contrast, the automatic traveling system 10 according to the fourth embodiment is provided with a configuration in which a straight path r1 of a non-work path is added between the straight path Vra and the turning path r2, and a straight path r5 of a non-work path is added between the turning path r4 and the straight path Vrb, and the configuration in which the turning target position Py is smoothly changed from the distance L1 to the distance L2 according to the traveling of the combine harvester 1 is omitted.

[0112] For example, in the conventional configuration shown in Fig. 15A, when the combine harvester 1 reaches the end position Pe of the straight path Vra (the start position P1 of the turning path r2), the target position is switched from the straight target position Px to the turning target position Py at a preset distance L2. In this case, the behavior of the combine harvester 1 becomes unstable due to sudden steering at the start position P1 of the turning path r2 to follow the turning target position Py.

[0113] In contrast, as shown in Fig. 15B, in a configuration in which a straight path r1, which is a non-work path, is added between the straight path Vra and the turning path r2, and a straight path r5, which is a non-work path, is added between the turning path r4 and the straight path Vrb, when the combine 1 reaches the end position Pe of the straight path Vra (the start position P1 of the turning path r2) and the target position is switched from the straight target position Px to the turning target position Py at a preset distance L2, the turning target position Py can be set on the turning path r2 at a position close to the extension line of the straight path Vra (straight path r1). This makes it possible to reduce the steering amount compared to the conventional configuration (see Fig. 15A), thereby stabilizing the behavior of the combine 1.

[0114] In addition, since the longer the straight path r1, the closer the turning target position Py of the distance L2 is to an extension line of the straight path Vra (straight path r1), the control device 11 may set the length of the straight path r1 to the distance L2.

[0115] In this manner, the control device 11 may generate a first straight path, a second straight path connected to the first straight path, and a turning path connected to the second straight path, and when the combine harvester 1 reaches the starting position of the second straight path, set a turning target position Py on the turning path and make the combine harvester 1 travel so as to follow the turning target position Py. Even with this configuration, the behavior of the combine harvester 1 can be stabilized.

[0116] [Fifth Example] In each of the above-described embodiments, the combine harvester 1 moves only forward when moving from the straight path to the turning path and when moving from the turning path to the straight path. In the automatic travel system 10 according to the fifth embodiment, the combine harvester 1 may include backward travel when moving from the straight path to the turning path and when moving from the turning path to the straight path. That is, the target path R2 of the non-work path may include a backward path. For example, in the target path R1 of the work path and the target path R2 of the non-work path shown in FIG. 16, the combine harvester 1 travels straight on the straight path Vra (work path), travels forward on the turning path r6 to the left at the terminal position of the straight path Vra, switches forward and backward at the terminal position of the turning path r6 and travels backward on the turning path r7 and the straight path r8, switches forward and forward at the terminal position of the straight path r8 and travels forward on the straight path r9, and enters the straight path Vrb (work path).

[0117] 16, the setting processing unit 112, as in the above-described embodiment, sets target positions (straight-line target position Px, turning target position Py) based on the current position Pv of the combine harvester 1, thereby automatically causing the combine harvester 1 to travel along the target routes R1, R2. This makes it possible to stabilize the behavior of the combine harvester 1 even during turning travel, including reverse travel. In other words, the present invention is not limited to a turning method, and the configuration of the present invention can be applied to various turning patterns, including reverse travel.

[0118] Also, the setting processing unit 112 can set the target positions (straight-line target position Px, turning target position Py) in the backward direction in the same manner as in forward traveling, and this allows the combine 1 to smoothly turn backward. That is, the present invention makes it possible to set the straight-line target position Px and the turning target position Py in both forward traveling and backward traveling.

[0119] [Sixth Example] In each of the above-mentioned embodiments, the traveling processing unit 111 may control the vehicle speed of the combine harvester 1 based on the target position (forward gaze point). For example, a target vehicle speed is set in advance for each traveling route (straight route, turning route). For this reason, the traveling processing unit 111 switches the vehicle speed of the combine harvester 1 from the target vehicle speed for straight travel to the target vehicle speed for turning, for example, when the target position moves from the straight route to the turning route. Also, when the target position moves from the turning route to the straight route, the traveling processing unit 111 switches the vehicle speed of the combine harvester 1 from the target vehicle speed for turning to the target vehicle speed for straight travel. That is, when the traveling processing unit 111 sets the turning target position Py on the turning route while the combine harvester 1 is traveling on the straight route, the traveling processing unit 111 switches the target vehicle speed of the combine harvester 1 to the target vehicle speed for turning preset on the turning route, and when the traveling processing unit 1 sets the straight target position Px on the straight route while the combine harvester 1 is traveling on the turning route, the traveling processing unit 111 switches the target vehicle speed of the combine harvester 1 to the target vehicle speed for straight travel preset on the straight route.

[0120] In the automatic driving system 10 according to the sixth embodiment, the driving processing unit 111 may stepwise switch the vehicle speed of the combine harvester 1 from the target vehicle speed for straight travel to the target vehicle speed for turning, for example, when the target position moves from a straight path to a turning path. For example, the driving processing unit 111 maintains the target vehicle speed for straight travel when the target vehicle position Py for turning is set on the turning path while the combine harvester 1 is traveling on the straight path and starts turning, changes (e.g., decelerates) the target vehicle speed to the target vehicle speed for turning as the combine harvester 1 approaches the terminal position of the straight path (the starting position of the turning path), and switches the target vehicle speed to the target vehicle speed for turning when the combine harvester 1 reaches the terminal position of the straight path.

[0121] In another embodiment, the driving processing unit 111 may maintain the target vehicle speed for straight driving when the distance from the current position of the combine 1 traveling on a straight path to the end position of the straight path (the start position of the turning path) is greater than a predetermined distance, and switch the target vehicle speed for turning when the distance becomes less than the predetermined distance.

[0122] In this way, when the combine 1 is traveling on a straight path and a target position Py for turning is set on the turning path, the driving processing unit 111 may switch the target vehicle speed of the combine 1 based on the distance from the combine 1 to the start position of the turning path, and when the combine 1 is traveling on a straight path and a target position Px for straight traveling is set on the straight path, the driving processing unit 111 may switch the target vehicle speed of the combine 1 based on the distance from the combine 1 to the start position of the straight path.

[0123] [Seventh Example] In the above-mentioned third embodiment (see FIG. 14A, etc.), when the distance L1 of the straight-line target position Px is set shorter than the distance L2 of the turning target position Py, the driving processing unit 111 may perform turning so that the straight-line target position Px follows the turning target position Py until it reaches the terminal position P4 of the turning path r4, as shown in FIG 17. In this case, the setting processing unit 112 may set the turning target position Py on the straight-line path r5 at the time when it reaches the terminal position P4 of the turning path r4.

[0124] [Eighth Example] In each of the above-described embodiments, the travel processing unit 111 makes the combine harvester 1 turn along the turning path according to the turning target position Py, for example, when the combine harvester 1 is traveling along a straight path (working path) and the turning target position Py reaches the start position of the turning path. In the automatic traveling system 10 according to the eighth embodiment, the travel processing unit 111 may switch the combine harvester 1 from straight traveling to turning traveling when the combine harvester 1 finishes working along the straight path and the reaping unit 15 moves from the working position (lowest position) to the non-working position (highest position). For example, the travel processing unit 111 switches the combine harvester 1 to turning traveling when it acquires an instruction to raise the reaping unit 15. Also, for example, the travel processing unit 111 switches the combine harvester 1 to turning traveling when it acquires a signal indicating that the reaping unit 15 has reached the highest position.

[0125] Furthermore, when the travel processing unit 111 acquires the instruction or signal to raise the reaping unit 15 before the combine harvester 1 reaches the end position of the straight path (work path), the travel processing unit 111 may switch the combine harvester 1 from straight traveling to turning traveling at that time. That is, the combine harvester 1 may raise the reaping unit 15 before reaching the end position of the work path and start turning traveling according to the turning path. Note that, when the travel processing unit 111 acquires the instruction or signal to raise the reaping unit 15, if the distance from the current position of the combine harvester 1 to the start position of the turning path is equal to or greater than a predetermined distance, the travel processing unit 111 may maintain straight traveling, and switch from straight traveling to turning traveling when the distance becomes less than the predetermined distance.

[0126] [Ninth Example] In each of the above-described embodiments, the driving processing unit 111 switches the driving route based on the target position (forward gaze point). In the automatic driving system 10 according to the ninth embodiment, the driving processing unit 111 may switch the driving route based on a preset distance parameter (set distance). For example, the driving processing unit 111 makes the combine harvester 1 turn along the turning route when the distance from the current position Pv of the combine harvester 1 traveling along the straight route to the start position of the next turning route reaches the distance parameter. Also, for example, the driving processing unit 111 makes the combine harvester 1 run straight along the straight route when the distance from the current position Pv of the combine harvester 1 traveling along the turning route to the start position of the next straight route reaches the distance parameter. Note that, when it is desired to switch from straight running to turning running early, and when it is desired to switch from turning running to straight running early, the distance parameter is set to a long distance. On the other hand, when it is desired to switch from straight running to turning running slowly, or when it is desired to switch from turning running to straight running slowly, the distance parameter is set to a short distance.

[0127] As another embodiment, the travel processing unit 111 may control travel by combining a target position (forward gaze point) and a distance parameter. For example, in order to reliably perform work to the end of the straight work path, the travel processing unit 111 makes the combine harvester 1 travel based on the forward gaze point when moving from the straight work path to the turning path. On the other hand, in order to place the combine harvester 1 on the straight work path early when moving from the turning path to the straight work path, the travel processing unit 111 makes the combine harvester 1 travel based on a distance parameter set to a distance longer than the forward gaze point when moving from the turning path to the straight work path.

[0128] In each of the above-described embodiments, the combine harvester 1 is given as an example of a work vehicle, but the work vehicle of the present invention is not limited to the combine harvester 1, and may be various work vehicles such as a tractor, a rice transplanter, or a construction machine. Also, in each of the above-described embodiments, the reference position (starting point) of the target position (forward gaze point) is set to the center position (current position Pv) of the combine harvester 1, but in other embodiments, the reference position may be set in front of the combine harvester 1, for example, at a reaping work position (position of the reaping section 15). That is, in the present invention, the reference position may be set to the center position of the work vehicle, or may be set to the position of the work machine (work position).

[0129] [Notes on the invention] The following will provide an overview of the invention extracted from the above-described embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0130] <Appendix 1> An automatic driving method for automatically driving a work vehicle along a target route including a straight route and a turning route, When the work vehicle moves from one of the straight path and the turning path to the other, a distance from the work vehicle to at least one of a straight path target position and a turning target position is set in accordance with travel of the work vehicle; causing the work vehicle to travel so as to follow the straight-line target position or the turning target position; An automated driving method that performs the above.

[0131] <Appendix 2> When the work vehicle reaches an end position of the straight path, the turning target position is set at a position on the turning path that is a first distance away from the work vehicle, and when the work vehicle moves toward the traveling direction from the end position, the turning target position is set at a position on the turning path that is a second distance away from the work vehicle that is longer than the first distance. 2. An automated driving method as described in appendix 1.

[0132] <Appendix 3> a distance from the work vehicle to the turning target position is set according to a distance from the end position to the work vehicle moving in a traveling direction. 2. An automated driving method as described in appendix 2.

[0133] <Appendix 4> The longer the distance from the terminal position to the work vehicle moving in the travel direction, the longer the distance from the work vehicle to the turning target position is set. 4. The automated driving method according to claim 2 or 3.

[0134] <Appendix 5> a distance from the work vehicle to the turning target position is set within a range of a predetermined distance shorter than a distance from the work vehicle to the straight-line driving target position; 5. The automatic driving method according to any one of claims 2 to 4.

[0135] <Appendix 6> generating a non-work path of a predetermined length between the straight path and the turning path; 2. An automated driving method as described in appendix 2.

[0136] <Appendix 7> The predetermined length is set based on the length of the work vehicle. 7. The automated driving method according to claim 6.

[0137] <Appendix 8> Setting the first distance to the predetermined length. 8. The automated driving method according to claim 6 or 7.

[0138] <Appendix 9> When the work vehicle reaches a start position of the non-work path, the turning target position is set to the start position of the turning path. An automatic driving method according to any one of appendix 6 to 8.

[0139] <Appendix 10> The first distance is increased as the work vehicle moves from a start position of the non-work path toward a traveling direction. 10. The automated driving method according to claim 9.

[0140] <Appendix 11> When the straight-line target position of a preset set distance reaches an end position of the turning path, the straight-line target position is set at a position on the straight-line path or on an extension of the straight-line path at a first distance shorter than a distance from the work vehicle to the turning target position, and when the work vehicle moves toward the end position, the straight-line target position is set at a position on the straight-line path or on an extension of the straight-line path at a second distance shorter than the first distance from the work vehicle. An automatic driving method according to any one of appendix 1 to 10.

[0141] <Appendix 12> When the turning target position is set on the turning path while the work vehicle is traveling on the straight path, the target vehicle speed of the work vehicle is switched to a turning target vehicle speed that is preset on the turning path; when the straight-line target position is set on the straight-line path while the work vehicle is traveling on the turning path, the target vehicle speed of the work vehicle is switched to a straight-line target vehicle speed that is preset on the straight-line path. An automatic driving method according to any one of appendix 1 to 11.

[0142] <Appendix 13> When the turning target position is set on the turning path while the work vehicle is traveling on the straight path, a target vehicle speed of the work vehicle is switched based on a distance from the work vehicle to a start position of the turning path; when the straight-line target position is set on the straight-line path while the work vehicle is traveling on the turning path, a target vehicle speed of the work vehicle is switched based on a distance from the work vehicle to a start position of the straight-line path. An automatic driving method according to any one of appendix 1 to 11.

[0143] <Appendix 14> An automatic driving method for automatically driving a work vehicle along a target route, comprising: generating a first straight path, a second straight path connected to the first straight path, and a turning path connected to the second straight path; When the work vehicle reaches a start position of the second straight path, setting a turning target position on the turning path; running the work vehicle so as to follow the turning target position; An automated driving method that performs the above.

[0144] <Appendix 15> An automatic driving program for automatically driving a work vehicle along a target route, generating a first straight path, a second straight path connected to the first straight path, and a turning path connected to the second straight path; When the work vehicle reaches a start position of the second straight path, setting a turning target position on the turning path; running the work vehicle so as to follow the turning target position; An automated driving program for executing the above on one or more processors.

[0145] <Appendix 16> An automatic driving system for automatically driving a work vehicle along a target route, a setting processing unit that generates a first straight path, a second straight path connected to the first straight path, and a turning path connected to the second straight path, and sets a turning target position on the turning path when the work vehicle reaches a start position of the second straight path; a travel processing unit that causes the work vehicle to travel so as to follow the turning target position; An automated driving system equipped with [Explanation of symbols]

[0146] 1: Combine (work vehicle) 3: Operation terminal 10:Autonomous Driving System 11: Control device 12: Storage section 13: Positioning unit 14: Running part 31: Operation control section 111: Driving processing unit 112: Setting processing section 311: Setting processing section 312: Output processing section F: Field F1: Outer area F2: Inner periphery area Px: Target position for going straight Py: Target position for turning R: Target route

Claims

1. An automatic driving method for automatically driving a work vehicle along a target route including a straight route and a turning route, When the work vehicle moves from one of the straight path and the turning path to the other, a distance from the work vehicle to at least one of a straight path target position and a turning target position is set in accordance with travel of the work vehicle; causing the work vehicle to travel so as to follow the straight-line target position or the turning target position; An automated driving method that performs the above.

2. When the work vehicle reaches an end position of the straight path, the turning target position is set at a position on the turning path that is a first distance away from the work vehicle, and when the work vehicle moves toward the traveling direction from the end position, the turning target position is set at a position on the turning path that is a second distance away from the work vehicle that is longer than the first distance. The automatic driving method according to claim 1.

3. a distance from the work vehicle to the turning target position is set according to a distance from the end position to the work vehicle moving in a traveling direction. The automatic driving method according to claim 2.

4. The longer the distance from the terminal position to the work vehicle moving in the travel direction, the longer the distance from the work vehicle to the turning target position is set. The automatic driving method according to claim 2.

5. a distance from the work vehicle to the turning target position is set within a range of a predetermined distance shorter than a distance from the work vehicle to the straight-line driving target position; The automatic driving method according to claim 2.

6. generating a non-work path of a predetermined length between the straight path and the turning path; The automatic driving method according to claim 2.

7. The predetermined length is set based on the length of the work vehicle. The automatic driving method according to claim 6.

8. Setting the first distance to the predetermined length; The automatic driving method according to claim 6.

9. When the work vehicle reaches a start position of the non-work path, the turning target position is set to the start position of the turning path. The automatic driving method according to claim 6.

10. The first distance is increased as the work vehicle moves from a start position of the non-work path toward a traveling direction. The automatic driving method according to claim 9.

11. When the straight-line target position of a preset set distance reaches an end position of the turning path, the straight-line target position is set at a position on the straight-line path or on an extension of the straight-line path at a first distance shorter than a distance from the work vehicle to the turning target position, and when the work vehicle moves toward the end position, the straight-line target position is set at a position on the straight-line path or on an extension of the straight-line path at a second distance shorter than the first distance from the work vehicle. The automatic driving method according to claim 1.

12. When the turning target position is set on the turning path while the work vehicle is traveling on the straight path, the target vehicle speed of the work vehicle is switched to a turning target vehicle speed that is preset on the turning path; when the straight-line target position is set on the straight-line path while the work vehicle is traveling on the turning path, the target vehicle speed of the work vehicle is switched to a straight-line target vehicle speed that is preset on the straight-line path. The automatic driving method according to claim 1.

13. When the turning target position is set on the turning path while the work vehicle is traveling on the straight path, a target vehicle speed of the work vehicle is switched based on a distance from the work vehicle to a start position of the turning path; when the straight-line target position is set on the straight-line path while the work vehicle is traveling on the turning path, a target vehicle speed of the work vehicle is switched based on a distance from the work vehicle to a start position of the straight-line path. The automatic driving method according to claim 1.

14. An automatic driving method for automatically driving a work vehicle along a target route, comprising: generating a first straight path, a second straight path connected to the first straight path, and a turning path connected to the second straight path; When the work vehicle reaches a start position of the second straight path, setting a turning target position on the turning path; running the work vehicle so as to follow the turning target position; An automated driving method that performs the above.

15. An automatic driving program for automatically driving a work vehicle along a target route including a straight route and a turning route, When the work vehicle moves from one of the straight path and the turning path to the other, a distance from the work vehicle to at least one of a straight path target position and a turning target position is set in accordance with travel of the work vehicle; causing the work vehicle to travel so as to follow the straight-line target position or the turning target position; An automated driving program for executing the above on one or more processors.

16. An automatic driving system that automatically drives a work vehicle along a target route including a straight route and a turning route, a setting processing unit that sets a distance from the work vehicle to at least one of a straight travel target position and a turning target position in accordance with travel of the work vehicle when the work vehicle moves from one of the straight travel path and the turning path to the other; a travel processing unit that causes the work vehicle to travel so as to follow the straight-line target position or the turning target position; An automated driving system equipped with

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