Automated travelling method

Abstract

To provide automated travelling method, a work vehicle, and an automated travelling system capable of smoothly performing discharge travelling matched to an operator's intention without obstructing smooth automated travelling.SOLUTION: A combine 1 includes a control device 30 and a portable terminal 40. The control device 30 functions as an automated travelling control unit 35 for performing automated travelling on the basis of an automated travelling route composed of a plurality of set straight travelling routes and a plurality of set turning routes, and a discharge travelling control unit 36 for performing discharge travelling from a predetermined shift position to a discharge position on the automated travelling route. The portable terminal 40 includes a control device 41. The control device 41 functions as a shift position changing unit 54 for changing a first shift position set on the basis of a storage amount of harvested grains as a shift position to a new second shift position according to an operation of a discharge shift operation part of a discharge advance button 64 or a discharge postponement button 65.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an automatic driving method for automatically driving a work vehicle in a farm field. [Background technology]

[0002] Conventionally, a work vehicle such as a combine harvester performs automatic reaping travel in which the vehicle travels automatically in a farm field while performing reaping work, stores the harvested grains, performs a discharge travel to a discharge position, and discharges the stored grains. Here, the work vehicle sets a transition position for interrupting automatic reaping travel and switching to discharge travel based on the timing when the stored amount of grains becomes full.

[0003] For example, in the automatic driving control system disclosed in Patent Document 1, the control unit of the combine harvester includes a discharge control unit, which sets the timing of grain discharge based on the amount of grain stored in the grain tank detected by a storage amount sensor. Furthermore, in Patent Document 1, discharge travel is performed in response to manual operation by an operator via an operation button arranged on the driving unit or a management terminal.

[0004] Furthermore, in the travel path calculation system disclosed in Patent Document 2, when a combine is harvesting in a field, the worker can see the amount of stored grain displayed on the display of the communication terminal, and when the worker presses a grain discharge button, the combine begins discharging grain. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-83386 [Patent Document 2] Patent No. 6910285 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventionally, a combine harvester sets a transition position where automatic travel is interrupted and a transition to discharge travel is started based on the amount of harvested grain stored. However, a highly skilled worker can set an appropriate discharge timing for smooth harvesting work regardless of the amount of stored grain, and may wish to transition to discharge travel at a timing different from the transition position based on the amount of stored grain. In the technology described in Patent Document 1 and Patent Document 2, automatic travel is interrupted and a transition to discharge travel is started when a button is operated, so that automatic travel is interrupted in the middle of working on a row, and when discharging to the discharge position or returning to the interruption position, the unworked row is affected, causing a problem that smooth travel cannot be achieved.

[0007] The present invention aims to provide an automatic driving method, work vehicle, and automatic driving system that can smoothly perform discharge driving in accordance with the worker's intentions without interfering with smooth automatic driving. [Means for solving the problem]

[0008] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle in a farm field, and is characterized by having an automatic driving process for performing automatic driving based on an automatic driving route consisting of a plurality of set straight routes and a plurality of set turning routes, a discharge driving process for performing discharge driving from a predetermined transfer position on the automatic driving route toward a discharge position, and a transfer position changing process for changing the first transfer position set as the transfer position based on the stored amount of harvested grains to a new second transfer position in response to operation of a discharge transfer operating unit.

[0009] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that automatically travels in a farm field, and is characterized in that it comprises an automatic travel control unit that automatically travels based on an automatic travel route consisting of a plurality of set straight paths and a plurality of set turning paths, a discharge travel control unit that performs discharge travel from a predetermined transfer position on the automatic travel route toward a discharge position, and a transfer position change unit that changes the first transfer position set as the transfer position based on the stored amount of harvested grains to a new second transfer position in response to operation of the discharge transfer operation unit.

[0010] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a farm field, and is characterized in that it includes an automatic driving control unit that performs automatic driving based on an automatic driving route consisting of a plurality of set straight paths and a plurality of set turning paths, a discharge driving control unit that performs discharge driving from a predetermined transfer position on the automatic driving route toward a discharge position, and a transfer position change unit that changes the first transfer position set as the transfer position based on the stored amount of harvested grains to a new second transfer position in response to operation of a discharge transfer operation unit. Effect of the Invention

[0011] The present invention provides an automatic driving method, work vehicle, and automatic driving system that can smoothly perform discharge driving in accordance with the worker's intentions without interfering with smooth automatic driving. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a block diagram of a combine harvester according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a plan view showing an example of a work screen displayed on a mobile terminal of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 1 is a plan view showing an example of a farm field in which a transition position based on a storage volume is set in a combine harvester according to an embodiment of the present invention. [Diagram 5]FIG. 11 is a plan view showing an example of a farm field in which the transition position has been changed forward in the combine harvester according to the embodiment of the present invention. [Figure 6] FIG. 11 is a plan view showing an example of a farm field in which a transition position is changed later in the combine harvester according to the embodiment of the present invention. [Figure 7] 10 is a flowchart illustrating an example of an operation for setting a transition position in a combine harvester according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A combine harvester 1 according to an embodiment of the present invention will be described with reference to Fig. 1 etc. The combine harvester 1 travels in a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic operation, while the traveling speed is controlled in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn and work autonomously in the field.

[0014] The combine harvester 1 harvests multiple rows of stalks while traveling along a straight line with a harvest width of a predetermined number of rows within the number of harvestable rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to be driven manually in response to the operation of the control unit 9 by an operator.

[0015] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel, which performs reaping while automatically traveling along an automatic travel route set in the field. For example, the combine harvester 1 performs automatic reaping travel with a travel pattern such as reciprocating reaping by going back and forth along multiple straight routes in an area of ​​the field having uncut stalks (hereinafter referred to as the uncut area) and circular reaping by repeating a circuit of a straight route along the inner circumference of the uncut area while shifting it toward the center.

[0016] In addition, before performing automatic mowing travel, the combine harvester 1 performs peripheral mowing travel in which it travels around the outer periphery of the field, mowing while it travels, thereby forming a headland in the field, and the inside of the headland becomes the working area for automatic mowing travel.

[0017] The combine harvester 1 stores grains harvested from the field while performing reaping travel, and a collection section such as a truck or container for collecting the grains harvested by the combine harvester 1 is provided outside the field. The combine harvester 1 sets a discharge position for discharging grains from the combine harvester 1 to the collection section at a position along the outer periphery of the field adjacent to the collection section. When discharging grains during automatic reaping travel, the combine harvester 1 interrupts automatic reaping travel at a predetermined transition position on the automatic travel path and performs discharge travel to move to the discharge position. The combine harvester 1 sets an interruption position for interrupting automatic reaping travel, i.e., a transition position for transitioning to discharge travel, based on the timing when the amount of stored grains becomes full, for example, but in this embodiment in particular, the transition position is changed in response to a predetermined operation.

[0018] As shown in FIG. 1, the combine harvester 1 is equipped with a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9, and is configured as a so-called head-threshing combine. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 with power supplied by the power section 8.

[0019] The traveling unit 2 is provided below the machine frame 10, and includes a pair of left and right crawler-type traveling devices 11, and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from an 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 11, and can also change the speed of the rotational power.

[0020] The reaping unit 3 is provided in front of the traveling unit 2, and performs reaping work on rows within the number of reaping rows. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a transporting device 16. The divider 13 separates the culms in the field row by row, and guides a predetermined number of culms within the number of reaping rows to the raising device 14. The raising device 14 raises the culms guided by the divider 13. The cutting device 15 cuts the culms raised by the raising device 14. The transporting device 16 transports the culms cut by the cutting device 15 to the threshing unit 4.

[0021] The threshing unit 4 is provided behind the reaping unit 3. 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 16 of the reaping unit 3 for threshing, and further transports the threshed stew, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stew transported by the feed chain 18.

[0022] 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 chip 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 chips, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw chips, 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 6. The straw chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the outside of the machine.

[0023] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. A maximum amount of grains (maximum storage amount) that the grain tank 24 can store is set in the storage section 6. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location. The storage section 6 also includes a storage detection section 26 (sensor) that detects the amount of grains stored in the grain tank 24 (see Figure 2).

[0024] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports 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.

[0025] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. 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 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0026] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with, around the driver's seat where the operator sits, operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the turning of the body of the combine harvester 1, and 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. Manual travel of the combine harvester 1 is performed by the travel unit 2 that receives 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 3, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 6, and the like.

[0027] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as a GPS to acquire the vehicle position of the combine harvester 1. The positioning unit 28 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 28, i.e., the vehicle position of the combine harvester 1, based on the positioning signal.

[0028] Next, the control device 30 of the combine harvester 1 will be described with reference to Fig. 2. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 32 that communicates with external devices.

[0029] The storage unit 31 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the storage unit 31. The control device 30 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, for example.

[0030] The communication unit 32 is capable of wireless communication with external devices such as a mobile terminal 40 held by a worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40 and transmits and receives various information to and from the mobile terminal 40.

[0031] Moreover, the control device 30 operates as an automatic driving control unit 35 and a discharge driving control unit 36 ​​by executing a program stored in the storage unit 31. The automatic driving control unit 35 and the discharge driving control unit 36 ​​realize the automatic driving step and the discharge driving step of the automatic driving method according to the present invention.

[0032] When the automatic travel mode is set, the automatic travel control unit 35 controls the automatic travel of the combine harvester 1. For example, the automatic travel control unit 35 acquires field information and an automatic travel route 74 (see FIG. 3, etc.) set for the field from the mobile terminal 40. When the automatic travel control unit 35 starts automatic reaping travel, it acquires the vehicle position of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, the travel unit 2, and the reaping unit 3 based on the vehicle position, the field information, and the automatic travel route 74 so that the combine harvester 1 performs automatic reaping travel along the automatic travel route 74.

[0033] The discharge travel control unit 36 ​​controls discharge travel in which the combine harvester 1 that has reached the transition position 75 (see FIG. 3, etc.) moves to the discharge position 76 (see FIG. 3, etc.). When the manual travel mode is set, when the combine harvester 1 performing automatic reaping travel reaches the transition position 75, the discharge travel control unit 36 ​​interrupts automatic reaping travel and stops the operation of the reaping unit 3, and controls the power unit 8 and the travel unit 2 to stop automatic travel at the transition position 75. In addition, the discharge travel control unit 36 ​​controls the power unit 8 and the travel unit 2 to perform discharge travel in manual travel in response to the operation of the operation unit 9 by the operator.

[0034] On the other hand, when the automatic travel mode is set, the discharge travel control unit 36 ​​controls the power unit 8 and the travel unit 2 so that when the combine harvester 1 performing automatic reaping travel reaches the transfer position 75, the combine harvester 1 stops the operation of the reaping unit 3 and performs discharge travel in automatic travel along the discharge route from the transfer position 75 to the discharge position 76 without stopping at the transfer position 75. The discharge travel control unit 36 ​​may also control the combine harvester 1 to stop once at the transfer position 75 and then perform discharge travel toward the discharge position 76.

[0035] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal equipped with a touch panel or a notebook personal computer. An operation device similar to the mobile terminal 40 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 configure an automatic driving system.

[0036] 2, the mobile terminal 40 includes a control device 41 configured with a computer such as a CPU, and the control device 41 is connected to a storage unit 42 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 43 that communicates with external devices. The mobile terminal 40 also includes a display unit 44 such as a touch panel or a monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0037] The memory unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the control device 41 executes arithmetic processing based on the programs and data stored in the memory unit 42 to control various components and functions of the mobile terminal 40. The memory unit 42 stores field information of the field on which the combine harvester 1 is to work. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of a field area 70 (see FIG. 3, etc.) along the periphery of the field, and a discharge position 76 adjacent to the collection unit in the field. The field information also includes information such as the shape, size, and position information (coordinates, etc.) of an uncut area 72 (see FIG. 3, etc.) where work has not yet been performed, and an already-cut area 73 (see FIG. 3, etc.) where cutting has already been completed.

[0038] The memory unit 42 also stores a maximum storage capacity indicating the maximum amount of grains that can be stored in the grain tank 24 of the storage unit 6, and a unit harvest volume that can be harvested per unit distance of automatic reaping travel.

[0039] The communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The control device 41 controls the communication unit 43 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0040] The control device 41 of the mobile terminal 40 executes the programs stored in the memory unit 42 to operate as a field selection unit 50, a route creation unit 51, a work screen control unit 52, a transition position setting unit 53, a transition position change unit 54, a notification unit 55, and an abnormality detection unit 56. Note that the field selection unit 50, the route creation unit 51, the work screen control unit 52, the transition position setting unit 53, the notification unit 55, and the abnormality detection unit 56 realize the field selection step, the route creation step, the work screen control step, the transition position setting step, the notification step, and the abnormality detection step of the automatic traveling method according to the present invention, and the transition position change unit 54 realizes the transition position change and re-change steps of the automatic traveling method according to the present invention.

[0041] The field selection unit 50 manually or automatically selects a field to be the work target of the automatic traveling. For example, the field selection unit 50 displays on the display unit 44 a field selection screen (not shown) that displays selectable fields corresponding to the field information stored in the storage unit 42. When a field is manually selected on the field selection screen, the field selection unit 50 selects the selected field as the work target and reads out the field information from the storage unit 42.

[0042] Furthermore, when an operation to create a new field is performed on the field selection screen, the field selection unit 50 selects as the work target the new field at the vehicle position of the combine harvester 1. When the combine harvester 1 performs reaping travel by going around along the outer circumferential shape of the new field, the field selection unit 50 receives from the combine harvester 1 the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1, and creates field information of the new field by recording position information of the outer circumferential shape and position information of the reaping travel route, and stores the field information in the storage unit 42.

[0043] The route creation unit 51 creates an automatic driving route 74 (see FIG. 3, etc.) for automatic mowing travel in the field selected by the field selection unit 50, stores it in the memory unit 42, and transmits it to the combine harvester 1 via the communication unit 32. The automatic driving route 74 includes driving information related to automatic driving and work information related to work such as automatic mowing. The driving information includes the driving position in the field, as well as the traveling direction and set vehicle speed at each driving position. The work information includes information related to work such as mowing start / stop at each driving position, mowing speed, and mowing height. The route creation unit 51 creates multiple straight routes for mowing while traveling in the forward direction in accordance with the driving pattern (reciprocating mowing or circular mowing) selected by operating the mobile terminal 40, and creates the automatic driving route 74 by combining the multiple straight routes with multiple turning routes connecting each straight route.

[0044] In addition, the route creation unit 51 creates a discharge route for automatic discharge travel from a transfer position 75 set on the automatic travel route 74 to a discharge position 76, stores the route in the memory unit 42, and transmits the route to the combine harvester 1 via the communication unit 32. The discharge route includes travel information related to automatic travel, and the travel information includes a travel position in the field as well as a travel direction and a set vehicle speed at each travel position. The route creation unit 51 creates a discharge route by combining a straight route and a turning route, for example, so as to move from the transfer position 75 to the discharge position 76 while avoiding the uncut area 72.

[0045] When a field is selected by the field selection unit 50 and an automatic travel route 74 is created by the route creation unit 51, the work screen control unit 52 displays a work screen 60 for automatic travel according to the automatic travel route 74 on the display unit 44 as shown in Fig. 3. The work screen control unit 52 displays at least a map field 61 on the work screen 60, and also displays a work start button 62, a discharge setting button 63, a discharge advance button 64 (discharge shift operation unit), and a discharge postpone button 65 (discharge shift operation unit) in an operable manner. The work screen control unit 52 also displays, on the work screen 60, a registered field name 66 based on the field information and a possible reaping distance 67 based on the free space of the grain tank 24 in which the combine harvester 1 stores grains.

[0046] The work screen control unit 52 displays a field area 70 on the map in the map section 61, which conforms to the outer periphery of the field, based on the field information of the field selected by the field selection unit 50, and further displays a vehicle marking 71 of the combine harvester 1 at the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1. The work screen control unit 52 displays an unmowed area 72 and a already-mowed area 73 in a distinguishable manner in the field area 70. The work screen control unit 52 updates the position of the vehicle marking 71 and the ranges of the unmowed area 72 and the already-mowed area 73 in accordance with the progress of the automatic mowing travel of the combine harvester 1.

[0047] The work screen control unit 52 displays the automatic travel route 74 created by the route creation unit 51 in the map field 61, superimposed on the field area 70. The work screen control unit 52 displays an interruption position where the combine harvester 1 interrupts the automatic reaping travel to discharge stored grains, i.e., a transition position 75, and a discharge position 76 where the combine harvester 1 discharges stored grains, superimposed on the field area 70 so as to be identifiable. In addition, when a discharge route is set, the work screen control unit 52 may display the discharge route superimposed on the field area 70. In this embodiment, the transition position 75 set by the transition position setting unit 53 is set as a first transition position 75a, and the transition position 75 changed by the transition position change unit 54 is set as a second transition position 75b.

[0048] The work screen control unit 52 makes the work start button 62 selectable when the conditions for starting automatic reaping travel are met, and makes the work start button 62 inoperable when the conditions for starting are not met. When the work start button 62 is selected, the work screen control unit 52 transmits a start instruction as well as information on the field and the automatic travel route 74 to the combine harvester 1. In response to the start instruction, the combine harvester 1 transmits the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1 to the mobile terminal 40 while performing automatic reaping travel along the automatic travel route 74.

[0049] While the combine harvester 1 is performing automatic reaping travel, the work screen control unit 52 displays a work stop button (not shown) in place of the work start button 62 so that it can be selected. When the work stop button is selected, the work screen control unit 52 transmits a stop instruction to the combine harvester 1. In response to the stop instruction, the combine harvester 1 ends the automatic reaping travel. Furthermore, when the combine harvester 1 ends the automatic reaping travel, the work screen control unit 52 displays the work start button 62 in place of the work stop button.

[0050] When the discharge setting button 63 is selected on the work screen 60, the work screen control unit 52 displays a discharge position setting screen (not shown) for setting the discharge position 76 on the display unit 44. On the discharge position setting screen, not only can the discharge position 76 be set, but also it is possible to set whether the discharge run to the discharge position 76 will be performed automatically or manually.

[0051] When the forward discharge button 64 is selected on the work screen 60, the work screen control unit 52 updates the display to the changed second transition position 75b when the transition position 75 is changed by being forward tilted by the transition position change unit 54 described later.

[0052] When the discharge postponement button 65 is selected on the work screen 60, the work screen control unit 52 updates the display to the changed second transfer position 75b when the transfer position 75 is postponed and changed by the transfer position change unit 54 described later.

[0053] The transition position setting unit 53 determines the timing for the combine 1 to transition from automatic reaping travel to discharge travel based on the amount of harvested grain stored, and sets a transition position 75 on the automatic travel path 74, as shown in Figure 4.

[0054] For example, the transition position setting unit 53 detects the amount of grains stored in the grain tank 24 (current amount) based on the detection result of the storage detection unit 26 of the storage unit 6, and calculates the free capacity in which the grain tank 24 can store grains based on the maximum storage capacity and the current storage capacity of the grain tank 24. The transition position setting unit 53 calculates the reaping distance 67 by dividing the free capacity of the grain tank 24 by the unit harvest amount of the combine harvester 1. The transition position setting unit 53 calculates the position on the automatic travel route 74 where the reaping distance 67 passes, that is, the full capacity position 77 where the grain tank 24 is full, based on the automatic travel route 74, the vehicle position of the combine harvester 1, and the reaping distance 67, and sets the straight route having the full capacity position 77 as the full capacity route 78.

[0055] The transition position setting unit 53 then sets a predetermined straight path that arrives before the full load path 78 on the automatic travel path 74 as an interruption path 79, and sets an interruption position, i.e., transition position 75, at the end of the interruption path 79. The transition position setting unit 53 preferably sets, as the interruption path 79, a path that arrives just before the full load path 78 among straight paths that advance in a direction perpendicular to the extension direction of the headland where the discharge position 76 is set and head toward the headland, and sets the transition position 75 at the end of the interruption path 79 (the end on the discharge position 76 side). In this embodiment, the transition position 75 thus set based on the amount of harvested grains stored is set as the first transition position 75a.

[0056] As shown in Figures 5 and 6, the transition position change unit 54 changes the first transition position 75a, which is set by the transition position setting unit 53 based on the amount of stored grains, to a new second transition position 75b in response to operation of the discharge transition operating unit, such as the discharge advance button 64 or the discharge postpone button 65.

[0057] When the discharge forward button 64 is selected and operated, the transition position change unit 54 resets a predetermined straight path that arrives before the straight path in which the first transition position 75a is set as an interruption path 79, as shown in Fig. 5, and changes the transition position 75 to set an interruption position, i.e., a second transition position 75b, at the end of the interruption path 79. Note that the transition position change unit 54 preferably resets the straight path in which the combine 1 is located or a path that arrives immediately thereafter, among the straight paths that advance in a direction perpendicular to the extension direction of the headland in which the discharge position 76 is set and head toward the headland, as the interruption path 79, and sets the second transition position 75b at the end of the interruption path 79 (the end on the discharge position 76 side).

[0058] Furthermore, when the forward ejection button 64 is selected again after the transition position change unit 54 sets the second transition position 75b before the first transition position 75a, the transition position change unit 54 cancels the setting of the second transition position 75b and changes the transition position 75 to reset the first transition position 75a.

[0059] When the discharge forward tilt button 64 is operated continuously, for example, when it is pressed continuously within a predetermined time interval, the transition position change unit 54 shifts the setting candidate by one each time the discharge forward tilt button 64 is operated between the straight path on which the first transition position 75a is set and the straight path on which the combine harvester 1 is located, and sets the second transition position 75b to the end of the straight path of the setting candidate when the continuous operation of the discharge forward tilt button 64 is completed. At this time, the work screen control unit 52 may identifiably display the end of the straight path of the setting candidate each time the discharge forward tilt button 64 is operated. Note that when the discharge forward tilt button 64 is pressed with a predetermined time interval, the above-mentioned normal operation different from that during continuous operation is performed.

[0060] When the discharge forward button 65 is selected and operated, the transition position change unit 54 resets a predetermined straight path that is reached after the straight path in which the first transition position 75a is set as an interrupted path 79, as shown in Fig. 6, and changes the transition position 75 so as to set an interruption position, i.e., a second transition position 75b, at the end of the interrupted path 79. Note that the transition position change unit 54 preferably resets, as the interrupted path 79, a straight path that is reached immediately after the straight path in which the first transition position 75a is set, among the straight paths that advance in a direction perpendicular to the extension direction of the headland in which the discharge position 76 is set and head toward the headland, and sets the second transition position 75b at the end of the interrupted path 79 (the end on the discharge position 76 side).

[0061] Furthermore, when the discharge forwarding button 65 is selected again after the transition position change unit 54 sets the second transition position 75b after the first transition position 75a, the transition position change unit 54 changes the transition position 75 to cancel the setting of the second transition position 75b and reset the first transition position 75a.

[0062] When the discharge forwarding button 65 is operated continuously, for example, when the discharge forwarding button 65 is pressed continuously within a predetermined time interval, the transition position change unit 54 shifts the setting candidate by one each time the discharge forwarding button 65 is operated between the straight path in which the first transition position 75a is set and the straight path a predetermined number later, and sets the second transition position 75b to the end of the straight path of the setting candidate when the continuous operation of the discharge forwarding button 65 is completed. At this time, the work screen control unit 52 may identifiably display the end of the straight path of the setting candidate each time the discharge forwarding button 65 is operated. Note that when the discharge forwarding button 65 is pressed with a predetermined time interval, the above-mentioned normal operation different from that during continuous operation is performed.

[0063] The notification unit 55 notifies the change in the transition position 75 when the transition position 75 is changed by the transition position changing unit 54 in response to the operation of the discharge transition operating unit, the discharge advance button 64 or the discharge postponement button 65. For example, the notification unit 55 may notify the change in the transition position 75 by displaying a message or a lamp indicating the change in the transition position 75 on the display unit 44. The notification unit 55 may also notify the change in the transition position 75 by flashing or updating the display of the transition position 75 on the work screen 60. Furthermore, the notification unit 55 may notify the change in the transition position 75 by audio output, a buzzer, or the like.

[0064] The abnormality detection unit 56 detects an abnormality in the storage detection unit 26 of the storage unit 6, which detects the amount of grain stored in the grain tank 24 of the storage unit 6. For example, the abnormality detection unit 56 receives the detection result of the storage detection unit 26 and detects an abnormality in the storage detection unit 26 when the amount of grain stored in the grain tank 24 differs significantly from the expected amount or when the unit increase in grain harvested by automatic reaping travel differs significantly from the expected amount. Alternatively, the abnormality detection unit 56 may monitor the current value output by the storage detection unit 26, and detect an abnormality in the storage detection unit 26 when an abnormal value is detected.

[0065] When an abnormality is detected in the storage detection unit 26, if the first transfer position 75a is set by the transfer position setting unit 53 and displayed in the map field 61 of the work screen 60, the abnormality detection unit 56 notifies the user by urging the user to change the transfer position 75 using the discharge transfer operation unit such as the discharge advance button 64 or the discharge postponement button 65, since the first transfer position 75a set based on the storage amount is unreliable. For example, the abnormality detection unit 56 may urge the user to change the transfer position 75 by displaying a message or a lamp on the display unit 44 urging the user to change the transfer position 75. Furthermore, the abnormality detection unit 56 may urge the user to change the transfer position 75 by using a voice output, a buzzer, or the like.

[0066] Next, an example of an operation for setting the transfer position 75 in the combine harvester 1 will be described with reference to the flowchart of FIG.

[0067] First, in the mobile terminal 40 of the combine harvester 1, the route creation unit 51 creates an automatic travel route 74 for the field selected by the field selection unit 50 (step S1). The transition position setting unit 53 calculates a full load position 77 based on the automatic travel route 74, the vehicle position of the combine harvester 1, and the harvestable distance 67, and sets a first transition position 75a based on the storage amount as the transition position 75 based on the full load position 77 (step S2).

[0068] After the combine 1 starts automatic mowing travel along the automatic travel path 74 (step S3), if the forward discharge button 64 is operated (step S5: Yes) before reaching the transition position 75 (step S4: No), the transition position change unit 54 changes the transition position 75 to a second transition position 75b that is earlier than the first transition position 75a (step S6).

[0069] Alternatively, if the discharge forwarding button 65 is operated (step S7: Yes) before the combine 1 reaches the transition position 75 (step S4: No), the transition position change unit 54 changes the transition position 75 to a second transition position 75b behind the first transition position 75a (step S8).

[0070] Furthermore, when the combine harvester 1 reaches the transfer position 75 (step S4: Yes), the automatic reaping travel is interrupted, and the discharge travel control unit 36 ​​performs manual or automatic discharge travel from the transfer position 75 to the discharge position 76 (step S9).

[0071] As described above, according to this embodiment, the combine harvester 1 includes the control device 30 and the mobile terminal 40. The control device 30 functions as an automatic travel control unit 35 that performs automatic travel based on an automatic travel route consisting of a plurality of set straight paths and a plurality of set turning paths, and a discharge travel control unit 36 ​​that performs discharge travel from a predetermined transfer position on the automatic travel route to a discharge position. The mobile terminal 40 includes a control device 41, and the control device 41 functions as a transfer position change unit 54 that changes the first transfer position set based on the amount of harvested grain stored as the transfer position to a new second transfer position in response to the operation of the discharge transfer operation unit such as the discharge forward button 64 or the discharge forward button 65.

[0072] In other words, in the present invention, the automatic driving method for automatically driving a work vehicle such as a combine 1 in a farm field includes an automatic driving process for automatically driving based on an automatic driving route consisting of a plurality of set straight routes and a plurality of set turning routes, a discharge driving process for performing discharge driving from a predetermined transfer position on the automatic driving route toward a discharge position, and a transfer position changing process for changing a first transfer position set as the transfer position based on the stored amount of harvested grains to a new second transfer position in response to operation of a discharge transfer operating unit.

[0073] Thus, even if the first transition position of the combine harvester 1 is set in advance based on the amount of harvested grains stored, the combine harvester 1 can change to a new second transition position in response to the operation of the discharge transition operation unit of the discharge advance button 64 or the discharge postpone button 65, thereby shifting from automatic travel to discharge travel at a timing according to the operator's intention. Therefore, the discharge timing can be determined according to the working time and the convenience of the collection unit, and even if the reaping distance 67 cannot be accurately calculated due to a failure of the storage detection unit 26 or incomplete discharge, the operator can decide the discharge timing. Furthermore, even if the harvest amount differs depending on the field, the operator can set the transition position to a position closer to the timing when the grain tank 24 becomes full based on experience. Note that, if the combine harvester 1 can automatically reap and travel to the second transition position without the grain tank 24 becoming full beyond the first transition position based on the amount of stored grains, a correction value for calculating the reaping distance 67 can be calculated based on the travel distance at that time, and the reaping distance 67 can be calculated more accurately in the subsequent automatic reap travel. Therefore, the unloading run can be carried out smoothly without interfering with smooth automatic running.

[0074] According to this embodiment, the transition position change unit 54 functions as a re-changing process that changes the transition position to the second transition position in response to operation of the discharge transition operating unit, such as the discharge advance button 64 or the discharge postpone button 65, and then changes the second transition position back to the first transition position in response to a specified operation.

[0075] As a result, even if the discharge transition operating unit is operated by mistake and the transition position is changed, the transition position can be changed again to the first transition position based on the amount of stored grain by operating the discharge transition operating unit again, thereby improving operability until the discharge run.

[0076] According to this embodiment, the control device 41 of the mobile terminal 40 functions as a notification unit 55 that notifies the user that the transfer position has been changed when the transfer position is changed in response to the operation of the discharge transfer operation unit.

[0077] This allows the operator to recognize that the transition position has been changed in response to the operation of the discharge transition operating unit, and thus allows the operator to grasp the discharge timing.

[0078] According to this embodiment, when the discharge transition operating unit is operated, the transition position change unit 54 sets the second transition position at one of the ends of a straight path that advances perpendicularly to the extension direction of the headland in which the discharge position is set and heads toward the headland, and that arrives before the first transition position.

[0079] This allows the operator to set the second transition position according to his / her wishes and transition to the discharge run even if he / she wishes to discharge the harvested grains at a position before the first transition position based on the stored amount is reached. Also, since the transition position is set at a position closer to the discharge position, it becomes easier to set the route for the discharge run from the transition position to the discharge position.

[0080] According to this embodiment, when the discharge transition operating unit is operated, the transition position change unit 54 sets the second transition position at one of the ends of the straight paths that advance perpendicularly to the extension direction of the headland in which the discharge position is set and head toward the headland, and that are reached after the first transition position.

[0081] This allows the operator to set the second transition position according to his / her wishes and transition to the discharge run even if the operator wishes to discharge the harvested grains at a position after passing the first transition position based on the stored amount. Also, since the transition position is set at a position closer to the discharge position, it becomes easier to set the route for the discharge run from the transition position to the discharge position.

[0082] According to this embodiment, the control device 41 of the mobile terminal 40 functions as an abnormality detection unit 56 that detects an abnormality in the storage detection unit 26 (sensor) that detects the storage amount, and when the abnormality detection unit 56 detects an abnormality in the storage detection unit 26, it notifies the user to change the transfer position via the discharge transfer operation unit.

[0083] This allows the operator to recognize an abnormality in the storage detection unit 26, an abnormality in the calculation of the reaping distance 67, or an abnormality in the setting of the transition position, and further, to know that the transition position should be changed by the discharge transition operation unit. Therefore, even if the storage detection unit 26 has a malfunction, the transition position can be set and transition to discharge travel can be made.

[0084] In the above embodiment, an example has been described in which the transition position change unit 54 sets the second transition position to either the end of a straight path that advances perpendicularly to the extension direction of the headland in which the discharge position is set and heads toward the headland, the end of the straight path arriving before the first transition position, or the end of a straight path arriving after the first transition position, when the discharge transition operating unit is operated; however, the present invention is not limited to this example.

[0085] In another example, when the discharge forward tilt button 64 is operated, the transition position change unit 54 sets the second transition position, instead of the first transition position, to the end of the straight path along which the combine harvester 1 is traveling in automatic reaping travel. Note that, when the discharge forward tilt button 64 is operated, if the combine harvester 1 is traveling along a turning path of the automatic travel path, the transition position change unit 54 may set the second transition position to the end of the straight path following the turning path. In this case, it is assumed that the first transition position is not set to the end of the straight path along which the combine harvester 1 is traveling or the straight path next to the turning path.

[0086] As a result, when an operator wishes to immediately discharge the harvested grains, the transition position can be set at the end of the nearest straight path in accordance with the operator's wishes, allowing the operator to transition to the discharge run more quickly and also making it easier to set the path for the discharge run from the transition position to the discharge position.

[0087] In the above embodiment, the combine harvester 1 is described as being provided with the discharge transition operation unit, such as the discharge advance button 64 and the discharge forward button 65, on the work screen 60 displayed on the display unit 44 of the mobile terminal 40. However, the present invention is not limited to this example. In other examples, the discharge transition operation unit, such as the discharge advance button 64 and the discharge forward button 65, may be provided on the control unit 9 of the combine harvester 1.

[0088] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding type combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a normal type combine harvester.

[0089] In the above embodiment, an example has been described in which the work vehicle is configured as the combine harvester 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine that harvests crops, or may be configured as a work vehicle other than an agricultural work machine.

[0090] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving method that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0091] 1 Combine (work vehicle) 2 Running part 3 Reaping part 6. Storage section 24 Glentank 26 Storage detection unit (sensor) 30 Control device 35 Automatic driving control unit 36 Discharge travel control unit 40 Mobile Devices 41 Control device 44 Display section 53 Transition position setting section 54 Transition position change section 55 Notification Department 56 Abnormality detection section 60 Work Screen 64 Eject forward button (eject transition operation part) 65 Discharge forward button (discharge shift operation part)

Claims

1. An automatic driving method for automatically driving a work vehicle in a field, comprising: an automatic driving process of performing automatic driving based on an automatic driving route including a plurality of set straight routes and a plurality of set turning routes; A setting step of setting a work interruption position on the automatic travel route; an interruption position changing step of changing a first interruption position that has been preset as the interruption position to a new second interruption position in response to an operation of an operation unit; having The automatic driving method is characterized in that the interruption position changing process sets the second interruption position to any one of the terminal ends of the straight route toward a preset pillow area that is reached before the first interruption position when the operating unit is operated.

2. The automatic driving method described in claim 1, characterized in that the operation of changing the interruption position by the operating unit is effective on the straight-line path.

3. An automatic driving method as described in claim 1, characterized in that an alert is given when the interruption position is changed.

4. An automatic driving method for automatically driving a work vehicle in a field, comprising: an automatic driving process of performing automatic driving based on an automatic driving route including a plurality of set straight routes and a plurality of set turning routes; A setting step of setting a work interruption position on the automatic travel route; an interruption position changing step of changing the first interruption position set as the interruption position to a new second interruption position in response to an operation of an operation unit; having The automatic driving method is characterized in that the interruption position changing step sets the second interruption position at the end side of the straight path along which the work vehicle is traveling when the operating unit is operated.

5. The automatic driving method described in claim 4, characterized in that the operation of changing the interruption position by the operating unit is effective on the straight path.

6. The automatic driving method described in claim 4, characterized in that an alert is given when the interruption position is changed.

7. An automatic driving method for automatically driving a work vehicle in a field, comprising: an automatic driving process of performing automatic driving based on an automatic driving route including a plurality of set straight routes and a plurality of set turning routes; A setting step of setting a work interruption position on the automatic travel route; and an interruption position changing step of changing the first interruption position set as the interruption position to a new second interruption position in response to an operation of an operation unit, The automatic driving method is characterized in that the interruption position changing process sets the second interruption position to any of the ends of the straight route toward the pillow area that is reached after the first interruption position when the operating unit is operated.

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