Agricultural machinery and agricultural work support system

Abstract

To enable an appropriate agricultural work in the field even when there is an object in the field.SOLUTION: An agricultural machinery includes: a drivable vehicle body having a positioning device; a lifting device for connecting a work device to the vehicle body in a vertically movable manner; and a detection device provided to the vehicle body and which detects a presence / absence and a shape of the object in front of the vehicle body and a distance to the object. When it is determined that at least a part of the work device comes into contact with the object based on the detection result of the detection device, at least one of the vehicle body and the lifting device executes an avoidance operation to prevent the at least a part of the work device from coming into contact with the object. When it is determined that at least a part of the work device does not come into contact with the object based on the detection result of the detection device, the vehicle body executes an automatic drive based on a predefined drive route and a position of the vehicle body detected by the positioning device, and the work device executes a predefined agricultural work in the field.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to agricultural machinery and an agricultural work support system.

Background Art

[0002] Conventionally, there has been known an agricultural machine that automatically travels in a field based on a previously created travel route and the vehicle position of a traveling vehicle body, and performs agricultural work with a working device (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when an object is present on the travel route when an agricultural machine automatically travels on the travel route in a field as in the invention of Patent Document 1, it may interfere with the agricultural work of the working device.

[0005] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide an agricultural machine and an agricultural support system that can appropriately perform agricultural work in a field even when an object is located in the field.

Means for Solving the Problems

[0006] An agricultural machine according to one aspect of the present invention includes a travelable vehicle body having a positioning device, a lifting device that is connected to the vehicle body so as to be able to lift and lower a working device, and a detection device that is provided on the vehicle body and detects the presence or absence and shape of an object in front of the vehicle body and the distance to the object. Based on the detection result of the detection device, when it is determined that at least a part of the working device hits the object, at least one of the vehicle body and the lifting device performs an avoidance operation so that at least a part of the working device does not hit the object. Based on the detection result of the detection device, when it is determined that at least a part of the working device does not hit the object, the vehicle body performs automatic driving based on a predetermined travel route and the position of the vehicle body detected by the positioning device, and the working device performs a predetermined agricultural operation in the field.

[0007] An agricultural work support system according to one aspect of the present invention includes the agricultural machine, a server that can communicate with the agricultural machine, and a user terminal that can communicate with the server.

Advantages of the Invention

[0008] According to the present invention, even when an object is located in the field, agricultural work in the field can be appropriately performed.

Brief Description of the Drawings

[0009]

Figure 1

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Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The agricultural work support system X includes an agricultural machine 1, a server 56 that can communicate with the agricultural machine 1, and a user terminal 57 that can communicate with the server 56.

[0011] First, the agricultural machine 1 of the present embodiment will be described. FIG. 1 is a block diagram of the agricultural machine 1, showing a braking device 25 and the like. FIG. 10 is an overall side view of the agricultural machine 1. In the example shown in FIG. 10, the agricultural machine 1 is a tractor to which a working device 2 is connected. Note that the agricultural machine 1 is not limited to a tractor, and may be any working machine that can raise and lower the working device 2 with respect to at least the vehicle body, and may be other working machines.

[0012] The agricultural machine 1 includes a traveling vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. A driver's seat 10 is provided on the traveling vehicle body 3. In the following description, the front side (in the direction of arrow A1 in FIG. 10) of the driver sitting on the driver's seat 10 is defined as the front, the rear side (in the direction of arrow A2 in FIG. 10) as the rear, the left side (the near side in FIG. 10) of the driver as the left, and the right side (the far side in FIG. 10) of the driver as the right. Also, the horizontal direction, which is perpendicular to the front-rear direction, is described as the vehicle body width direction.

[0013] The traveling device 7 is a device having rotating wheels (front wheels 7F and rear wheels 7R). The wheels 7F and 7R are supported by an axle 21. As shown in FIG. 1, the front wheel 7F is supported by a front axle 21F, and the rear wheel 7R is supported by a rear axle 21R. The front wheel 7F may be a tire type or a crawler type. Also, the rear wheel 7R may be a tire type or a crawler type.

[0014] As shown in FIG. 1, the prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the driving force of the traveling device 7 by shifting gears, and can also switch between forward and reverse of the traveling device 7. In the present embodiment, the transmission 5 is a continuously variable transmission, particularly a hydraulic mechanical continuously variable transmission (HMT). As shown in FIG. 1, the traveling vehicle body 3 has an output shaft 6 which is a PTO shaft for transmitting power from the prime mover 4. As shown in FIG. 10, the output shaft 6 projects rearward from the rear part of the traveling vehicle body 3.

[0015] As shown in FIG. 1, the agricultural machine 1 is provided with a steering device 11. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates as the handle 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists in steering the handle 11a. The auxiliary mechanism 11c includes a hydraulic pump 12, a control valve 13 to which the hydraulic oil discharged from the hydraulic pump 12 is supplied, and a steering cylinder 14 that is operated by the control valve 13. The control valve 13 is an electromagnetic valve that operates based on a control signal. The control valve 13 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like. Also, the control valve 13 can be switched by the steering of the steering shaft 11b. The steering cylinder 14 is connected to an arm (knuckle arm) 15 that changes the direction of the front wheel 7F.

[0016] Therefore, by operating the handle 11a, the switching position and opening degree of the control valve 13 are switched according to the handle 11a, and the steering cylinder 14 expands and contracts to the left or right according to the switching position and opening degree of the control valve 13, so that the steering direction of the front wheel 7F can be changed. Note that the above-described steering device 11 is an example and is not limited to the above-described configuration.

[0017] As shown in FIG. 1, the agricultural machine 1 is provided with a braking device 25. The braking device 25 has a left braking device 25a and a right braking device 25b. The left braking device 25a and the right braking device 25b are disk-type braking devices and can be switched between a braking state for braking and a released state for releasing the braking. The left braking device 25a is provided on the left side of the rear axle 21R, and the right braking device 25b is provided on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are provided near the driver's seat 10. When an operator who operates the agricultural machine 1 operates (depresses) the left brake pedal, a left connecting member 26a connected to the left brake pedal moves in the braking direction, and the left braking device 25a can be brought into a braking state. When the operator operates (depresses) the right brake pedal, a right connecting member 26b connected to the right brake pedal moves in the braking direction, and the right braking device 25b can be brought into a braking state.

[0018] Further, a left hydraulic actuator 27a actuated by hydraulic oil is connected to the left connecting member 26a. A first actuating valve (left brake valve) 28a is connected to the left hydraulic actuator 27a via an oil passage. By actuating the left hydraulic actuator 27a with the first actuating valve 28a, the left connecting member 26a can be moved in the braking direction. Also, a right hydraulic actuator 27b actuated by hydraulic oil is connected to the right connecting member 26b. A second actuating valve (right brake valve) 28b is connected to the right hydraulic actuator 27b via an oil passage. By actuating the right hydraulic actuator 27b with the second actuating valve 28b, the right connecting member 26b can be moved in the braking direction.

[0019] As described above, the left braking device 25a and the right braking device 25b can independently bring each of the left rear wheel 7R and the right rear wheel 7R into a braking state not only by operating the left brake pedal and the right brake pedal but also by actuating the left hydraulic actuator 27a and the right hydraulic actuator 27b. In the present embodiment, the left braking device 25a is provided on the left side of the rear axle 21R, and the right braking device 25b is provided on the right side of the rear axle 21R. The braking device 25 brakes the rear wheels 7R among the wheels 7F and 7R. However, the braking device 25 may be provided on the left side and the right side of the front axle 21F instead of or in addition to the left braking device 25a and the right braking device 25b to brake the front wheels 7F.

[0020] As shown in FIG. 10, the traveling vehicle body 3 has a lifting device 8 that enables the working device 2 to be detachably and liftably attached. Specifically, a lifting device 8 composed of a three-point link mechanism or the like is provided at the rear part of the traveling vehicle body 3. Thereby, the traveling vehicle body 3 can be connected to the working device 2. The traveling vehicle body 3 can tow the working device 2 by connecting the working device 2 to the lifting device 8. can be done.

[0021] The working device 2 is connected to the traveling vehicle body 3 by a lifting device 8 and performs farming operations in the field. For example, the working device 2 includes a tilling device for tilling, a ridging device for forming ridges, a fertilizer spreader for spreading fertilizer, a pesticide sprayer for spraying and controlling pesticides, a seeding and spreading device for seeding operations, a transplanter for planting crops (seedlings), a harvesting device for harvesting crops, a mowing device for mowing forage, a spreading device for spreading forage, a hay raking device for raking forage, a forming device for forming forage, etc. In the present embodiment, the working device 2 is a device that contacts the field and performs tilling operations or plowing operations, and the description will be centered on a tilling device 2A that performs tilling operations in the field and a plowing device 2B that performs plowing operations in the field.

[0022] In FIG. 11A, an example of connecting a tilling device 2A as the working device 2 to the lifting device 8 is shown, and in FIG. 11B, an example of connecting a plowing device 2B as the working device 2 to the lifting device 8 is shown. The tilling device 2A is a working device 2 that is driven by the power transmitted from the output shaft 6 to perform ground farming operations. The tilling device 2A has tines 2A1 for tilling the field, and the tines 2A1 are driven by the power transmitted by the output shaft 6 and are pulled by the traveling vehicle body 3 to till the field.

[0023] The plowing device 2B is a subsoiler, plow, cultivator, or the like that performs ground farming operations by being pulled by the traveling vehicle body 3. The plowing device 2B has tines 2B1 for plowing the field, and the tines 2B1 plow the field by being pulled by the traveling vehicle body 3.

[0024] In the following description, among the range (working range) in which the working device 2 performs ground operations (such as tilling operations and plowing operations), the width in the left-right direction with respect to the traveling direction of the traveling vehicle body 3 will be described as the working width.

[0025] FIG. 2 is a perspective view showing the lifting device 8. To explain the lifting device 8 in detail, as shown in FIG. 2, the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e, and can raise and lower the working device 2 and switch the working device 2 between a non-working posture where it is not in contact with the ground and a working posture where it is in contact with the ground and performs agricultural work. The front end of the lift arm 8a is supported above or below the upper rear part of the case (transmission case) that houses the transmission 5 so as to be swingable. The lift arm 8a swings (moves up and down) by the drive of the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to the hydraulic pump 12 (FIG. 1) via a control valve 16. The control valve 16 is an electromagnetic valve or the like and expands and contracts the lift cylinder 8e.

[0026] As shown in FIGS. 2 and 10, the front end of the lower link 8b is supported above or below the lower rear part of the transmission 5 so as to be swingable. The front end of the top link 8c is supported above or below the rear part of the transmission 5 above the lower link 8b so as to be swingable. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear parts of the lower link 8b and the top link 8c.

[0027] FIGS. 3A to 3C show the operation of the lifting device 8. As shown in FIGS. 3A to 3C, when the lift cylinder 8e expands and contracts, the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. Thereby, the lifting device 8 can switch the posture of the working device 2 between a non-working posture and a working posture. At this time, the working device 2 swings (moves up and down) above or below with the front part of the lower link 8b as a fulcrum.

[0028] FIG. 3A shows a state where the lifting device 8 has lowered the working device 2 to the maximum extent. FIG. 3C shows The lifting device 8 shows the state in which the working device 2 is lifted to the maximum extent. That is, the lifting device 8 lowers the working device 2, and the state transitions in the order of FIGS. 3A, 3B, and 3C. Also, the lifting device 8 raises the working device 2, and the state transitions in the order of FIGS. 3C, 3B, and 3A.

[0029] As shown in FIG. 1, the agricultural machine 1 includes a control device 60, a storage unit 62, an input / output device (display device) 53, and a communication device 55.

[0030] The control device 60 performs various controls related to the agricultural machine 1. The control device 60 may be realized by hardware formed in an integrated circuit (IC chip) or the like, or may be realized by software using a computer. In the latter case, the computer has a program that is software for realizing each function of the control device 60 and a recording medium in which various data related to the agricultural machine 1 are recordable in a readable manner by the computer, an arithmetic circuit such as a CPU (Central Processing Unit) that executes the instructions of the program, and a RAM (Random Access Memory) that expands the program and various data. Then, when the arithmetic circuit reads and executes the program from the recording medium, the functions of the control device 60 are realized.

[0031] The storage unit 62 is a non-volatile memory or the like and stores various information related to the control of the control device 60. For example, the storage unit 62 stores the dimensional information of the agricultural machine 1 (working device 2, traveling vehicle body 3). For example, the storage unit 62 stores the dimensional information of the relative distance between the working device 2 and the traveling vehicle body 3 as the dimensional information of the agricultural machine 1. Also, the storage unit 62 stores, as the dimensional information of the working device 2, the dimensional information of the outer shape of the working device 2 and the dimensional information of the working range performed by the working device 2.

[0032] The input / output device 53 is a device that displays various information related to the agricultural machine 1. The input / output device 53 has a display such as a liquid crystal panel or an organic EL panel, and can perform screen switching and screen operations by operating a hardware switch provided in the driver's seat 10 or the input / output device 53. Further, the input / output device 53 can perform screen switching and screen operations, and perform settings related to the agricultural machine 1 by operating (tapping) a software switch (display member) displayed on the screen.

[0033] The communication device 55 includes a communication circuit for performing communication via the in-vehicle network N1 and a wireless communication circuit for performing wireless communication. The wireless communication circuit performs wireless communication directly or indirectly with the server 56 using Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network). Further, the communication device 55 may be a communication module that performs wireless communication via a mobile phone communication network or a data communication network, etc., and performs wireless communication with the server 56.

[0034] The server 56 is a fixed terminal such as a fixed-type computer provided outside the agricultural machine 1. Further, the server 56 is, for example, a fixed terminal installed in a farm household, a farming company, an agricultural machine manufacturer, or an agricultural cooperative. The server 56 includes a control unit 56a, a communication unit 56b, and a storage unit 56c. The control unit 56a controls the operation of the communication unit 56b. The communication unit 56b can communicate with the communication device 55 of the agricultural machine 1. Further, the communication unit 56b can communicate with the user terminal 57. Various information transmitted from the agricultural machine is stored in the storage unit 56c.

[0035] The user terminal 57 is, for example, a personal computer, a smartphone, a tablet computer, a PDA, etc. The user terminal 57 is transmitted from the agricultural machine 1 via the server 56 It is possible to display various information of the agricultural machine 1. Further, the user terminal 57 can input an operation on the agricultural machine 1 via the server 56. Further, the user terminal 57 can store various information transmitted from the agricultural machine 1.

[0036] The agricultural machine 1 can perform automatic driving based on a preset travel route L, raise and lower the lifting device 8, and perform agricultural work. In the agricultural machine 1, the positioning device 50 measures (detects) the position of the traveling vehicle body 3 (vehicle body position W1), and the control device 60 controls an automatic steering device 17, a transmission 5, etc., which will be described later, based on the detected vehicle body position W1 and the travel route L, and performs automatic driving.

[0037] As shown in FIG. 1, the agricultural machine 1 is provided with a positioning device 50. The positioning device 50 is a device that detects the position of the traveling vehicle body 3 (vehicle body position W1). The positioning device 50 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and QZSS. That is, the positioning device 50 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, detects the position of the agricultural machine 1 (for example, latitude and longitude), that is, the vehicle body position W1.

[0038] As shown in FIG. 1, the positioning device 50 has a receiving device 51 and an inertial measurement unit (IMU) 52. The receiving device 51 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite, and is attached to the traveling vehicle body 3 separately from the inertial measurement device 52. In this embodiment, as shown in FIG. 10, the receiving device 51 is attached to the upper part of the cabin 9 provided in the traveling vehicle body 3. Note that the attachment position of the receiving device 51 is not limited to the above position, and may be the central part of the bonnet or the upper part of the roll bar attached to the traveling vehicle body 3 instead of the cabin 9. In this embodiment, as shown in FIG. 4A, the vehicle body position W1 will be described as the position of the positioning device 50.

[0039] The inertial measurement device 52 includes an acceleration sensor that detects the acceleration α of the traveling vehicle body 3, a gyro sensor that detects the angular velocity of the traveling vehicle body 3, and the like. The traveling vehicle body 3 is provided, for example, below the driver's seat 10, and the inertial measurement device 52 can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3.

[0040] In the above-described example, the positioning device 50 is a positioning device 50 that detects the position of the traveling vehicle body 3 based on satellite signals. However, the positioning device 50 only needs to be able to detect the position of the traveling vehicle body 3, and it may be one that detects the position of the traveling vehicle body 3 based on the acceleration α detected by the inertial measurement device 52 and predetermined position information, and is not limited to the above configuration. Further, the vehicle body position W1 may be corrected and calculated based on the installation position of the positioning device 50 and the specifications of the agricultural machine 1 so as to indicate the position information of a specific part of the traveling vehicle body 3 in order to preferably control the automatic driving and avoidance operation Ac described later.

[0041] As shown in FIG. 1, the steering device 11 has an automatic steering device 17. The automatic steering device 17 is a mechanism that performs automatic steering of the traveling vehicle body 3, and automatically steers the traveling vehicle body 3 based on the traveling route L (planned traveling route) and the vehicle body position (traveling position) W1 of the traveling vehicle body 3 detected by the positioning device 50. The automatic steering device 17 is controlled by the control device 60 to automatically change the steering angle.

[0042] The automatic steering device 17 has a steering motor 17a and a gear mechanism 17b. The steering motor 17a is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the traveling position W1. The gear mechanism 17b is provided on the steering shaft 11b and meshes with a gear that rotates with the steering shaft 11b, and is provided on the rotation shaft of the steering motor 17a and rotates with the rotation It includes a shaft and a gear that rotates around the shaft. When the control device 60 controls the steering motor 17a and the rotating shaft of the steering motor 17a rotates, the steering shaft 11b automatically rotates (pivots) via the gear mechanism 17b. Thereby, the automatic steering device 17 can change the steering direction of the front wheels 7F so that the traveling position of the traveling vehicle body 3 coincides with the traveling route L.

[0043] As shown in FIG. 1, the control device 60 has an automatic driving control unit 60a that controls the automatic driving of the agricultural machine 1. The automatic driving control unit 60a is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, etc. The automatic driving control unit 60a can perform the steering angle of the steering device 11 (automatic steering device 17), the gear position of the transmission 5, the rotational speed of the prime mover 4, the braking control of the braking device 25, and the lifting control of the lifting device 8. Thereby, the automatic driving control unit 60a controls the automatic driving of the traveling vehicle body 3 and the agricultural work by the work device 2 based on the position of the traveling vehicle body 3 detected by the positioning device 50 and the traveling route L.

[0044] Specifically, for example, the automatic driving control unit 60a controls the braking device 25 separately from the operations of the left brake pedal and the right brake pedal. The automatic driving control unit 60a controls the first operation valve 28a and operates the left hydraulic operating unit 27a to move the left connecting member 26a in the braking direction. On the other hand, the automatic driving control unit 60a controls the second operation valve 28b and operates the right hydraulic operating unit 27b to move the right connecting member 26b in the braking direction.

[0045] When starting automatic driving, the automatic driving control unit 60a controls the steering motor 17a so that the traveling vehicle body 3 travels along the traveling route L, changes the steering angle of the steering device 11, and automatically changes the gear position of the transmission 5, the rotational speed of the prime mover 4, the braking control of the braking device 25, etc., thereby controlling the vehicle speed (traveling speed) of the agricultural machine 1.

[0046] Further, the automatic travel control unit 60a controls the control valve 16 to raise and lower the working device 2 to a predetermined height by means of the lifting device 8. Specifically, based on the detection result of the height detection unit 18, the automatic travel control unit 60a inputs a control signal to the control valve 16 to control the hydraulic oil supplied to and discharged from the lift cylinder 8e. The automatic travel control unit 60a can change the height (tillage depth) of the working device 2 (claws 2A1 and 2B1) connected to the lifting device 8 by extending and retracting the lift cylinder 8e.

[0047] As shown in FIG. 1, the agricultural machine 1 is provided with a height detection unit 18 that detects the height (tillage depth) of the lifting device 8 or the working device 2, and detects the height of the lifting device 8. As shown in FIGS. 11A and 11B, the height detection unit 18 is provided, for example, on the lifting device 8, and is a sensor that measures the distance from the height detection unit 18 to the ground G. The height detection unit 18 is constituted by, for example, a laser sensor. The height detection unit 18 is communicably connected to the control device 60 and outputs the detected result (detection signal) to the control device 60. Therefore, the control device 60 (automatic travel control unit 60a) can measure the height (tillage depth) of a predetermined position of the lifting device 8 and the working device 2 based on the detection result (detection signal) of the height detection unit 18. Note that the height detection unit 18 only needs to be able to measure the distance from the lifting device 8 to the ground G, and is not limited to a laser sensor.

[0048] When starting automatic travel, the automatic travel control unit 60a raises and lowers the lifting device 8 according to the travel route L. Specifically, the automatic travel control unit 60a controls the lifting device 8 so that the height of the lowest point Y1 in the working device 2 becomes a predetermined height. In the storage unit 62, an arithmetic expression (arithmetic table) for calculating the height of the lowest point Y1 from the detection result of the height detection unit 18 is stored in advance. The automatic travel control unit 60a refers to the arithmetic expression stored in the storage unit 62 and controls the control valve 16 to raise or lower the lifting device 8 so that the height of the lowest point Y1 becomes a predetermined height.

[0049] FIG. 4A is a diagram showing an example of the traveling route L of the agricultural machine 1. The traveling route L includes a straight traveling section L1 for causing the agricultural machine 1 to travel straight and a turning section L2 for causing the agricultural machine 1 to turn. When starting the automatic traveling, the automatic traveling control unit 60a controls different traveling speeds for the straight traveling section L1 and the turning section L2, respectively. For example, in the straight traveling section L1, the automatic traveling control unit 60a sets the traveling speed to the speed v1. On the other hand, in the turning section L2, the automatic traveling control unit 60a sets the traveling speed to a speed v2 (v2 < v1) slower than the speed v1. Note that the automatic traveling control unit 60a may divide the straight traveling section L1 into a plurality of sections and set different traveling speeds for each of the sections, and the control of the traveling speed is not limited to the above configuration.

[0050] Further, when starting the automatic traveling, the automatic traveling control unit 60a lowers the lifting device 8 in the straight traveling section L1 to switch the posture of the working device 2 to the working posture, and raises the lifting device 8 in the turning section L2 to switch the posture of the working device 2 to the non-working posture. Note that the automatic traveling control unit 60a may control the lifting device 8 according to the traveling route L, and the positions where the working device 2 is raised and lowered are not limited to the above positions.

[0051] FIGS. 4B to 4E are diagrams for explaining the automatic traveling of the agricultural machine 1. As shown in FIG. 4B, when the deviation (position deviation) between the vehicle body position W1 and the traveling route L is less than the threshold value in the situation where the agricultural machine 1 is performing automatic traveling, the automatic traveling control unit 60a maintains the rotation angle of the steering shaft (rotation shaft) 11b. As shown in FIG. 4C, when the deviation between the vehicle body position W1 and the traveling route L is equal to or greater than the threshold value and the agricultural machine 1 is located on the left side of the traveling route L, the automatic traveling control unit 60a rotates the steering shaft 11b so that the steering direction of the agricultural machine 1 becomes the right direction. As shown in FIG. 4D, when the deviation between the vehicle body position W1 and the traveling route L is equal to or greater than the threshold value and the agricultural machine 1 is located on the right side of the traveling route L, the automatic traveling control unit 60a rotates the steering shaft 11b so that the steering direction of the agricultural machine 1 becomes the left direction.

[0052] In the above example, the automatic driving control unit 60a changed the steering angle of the steering device 11 based on the deviation (position deviation) between the vehicle body position W1 and the driving route L. However, the steering angle may also be changed based on the vehicle body orientation F1 with respect to the driving route L. That is, when the orientation of the driving route L and the orientation (vehicle body orientation) F1 of the traveling direction (driving direction) of the agricultural machine 1 (traveling vehicle body 3) are different, that is, when the angle θg of the vehicle body orientation F1 with respect to the driving route L is equal to or greater than the threshold value, the automatic driving control unit 60a may set the steering angle so that the angle θg becomes zero (the vehicle body orientation F1 coincides with the orientation of the driving route L) (FIG. 4E). Further, the automatic driving control unit 60a may set the final steering angle in automatic steering based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the orientation (orientation deviation). The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.

[0053] Now, the control device 60 (automatic driving control unit 60a) controls the avoidance operation Ac of the agricultural machine 1 based on the detection result of the detection device 40. First, the detection device 40 will be described. As shown in FIG. 1, the agricultural machine 1 is provided with a detection device 40. The detection device 40 is provided on the traveling vehicle body 3 and detects the presence, shape of an object U in front of the traveling vehicle body 3, and the distance to the object U (the distance from the traveling vehicle body 3 to the object U). Further, the detection device 40 detects the hardness of the object U. As shown in FIG. 10, the detection device 40 is attached to the front attachment portion 19 of the traveling vehicle body 3 and detects an object U in front of the traveling vehicle body 3. The front attachment portion 19 is a bracket for holding the detection device 40. Further, the object U is, for example, a hard object such as a rock or a metal piece around the driving route L in the field.

[0054] Specifically, the detection device 40 scans (images) the front of the traveling vehicle body 3 at a predetermined cycle and detects the presence or absence of the object U, the shape of the object U (the height Uh of the object U, the depth of the object U, the width of the object U, etc.), and the distance (the position PU of the object U). The detection device 40 includes an optical and acoustic sensor and a signal processing circuit It includes etc. The optical sensor of the detection device 40 is composed of, for example, an imaging device such as a camera or a lidar (LiDAR: Light Detection And Ranging). The imaging device is composed of a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, etc. The imaging device captures images around the agricultural machine 1 and generates an image signal (captured image). The signal processing circuit detects the presence or absence of the object (object U), the distance to the object U, the position of the object U, the shape of the object U, etc. based on the image signal output from the imaging device.

[0055] In addition, the detection device 40 includes a trained model by machine learning. The trained model (hardness estimation model) is generated by a dataset that associates the texture (pattern, color) of the object U in the captured image (training image) with the hardness of the object U. According to this trained model, when a captured image (input image) is input, the hardness of the object U reflected in the input captured image can be estimated.

[0056] Note that the detection device 40 may include a trained model generated by a dataset that associates the captured image (training image) of the object U in the past performance of the work device 2 (for example, the claws 2A1, 2B1) hitting the object U and being damaged with the actual damage situation of the work device 2, and estimates the possibility of damage to the work device 2. According to this trained model, based on the object U reflected in the captured image (input image), the possibility of damage to the work device 2 can be estimated.

[0057] In addition, the detection device 40 may include a trained model that is generated from a captured image of the ground surface when the working device 2 can perform normal farming operations without being damaged by the object U, and estimates the possibility of damage to the working device 2. According to this trained model, based on the ground surface reflected in the captured image (input image), the possibility that the working device 2 can perform normal operations can be estimated. Therefore, when an input image is input to these trained models and it is output that the possibility that the working device 2 can perform normal farming operations is low, it can be estimated that the possibility of damage to the working device 2 is high.

[0058] In this embodiment, it is assumed that the trained model can estimate the hardness of the object at two levels: Lv1 (not relatively hard, low possibility of damage even when hitting the working device 2) and Lv2 (relatively hard, high possibility of damage when hitting the working device 2), and the description will continue.

[0059] The lidar (laser sensor) irradiates pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and scans in the horizontal or vertical direction by reflecting the measurement light with a rotating mirror to project light within a predetermined detection range. Then, the lidar receives the reflected light of the measurement light from the object (object U) with a light receiving element. The signal processing circuit detects the presence or absence of the object (object U), the distance to the object U, the position of the object U, the shape of the object U, the type of the object U, etc. based on the received light signal output from the light receiving element of the lidar. In addition, the signal processing circuit detects the distance to the object based on the time from when the lidar irradiates the measurement light to when it receives the reflected light (TOF (Time of Flight) method).

[0060] The acoustic sensor of the detection device 40 is composed of an airborne ultrasonic sensor such as a sonar. The airborne ultrasonic sensor transmits a measurement wave (ultrasonic wave) to a predetermined detection range by a transmitter, and receives a reflected wave obtained by reflecting the measurement wave from an object with a receiver. The signal processing circuit detects the presence or absence of an object, the position of the object, the type of the object, etc. based on the signal output from the receiver. Further, the signal processing circuit detects the distance to the object based on the time from when the measurement wave is transmitted by the airborne ultrasonic sensor until the reflected wave is received (TOF (Time of Flight) method).

[0061] In the present embodiment, the detection device 40 may include all of an imaging device, a lidar (laser sensor), and an airborne ultrasonic sensor, or may include at least any one of them. Further, the detection device 40 may include detection means such as sensors other than these. For example, the detection device 40 may include a buried object detection unit that detects a buried object (object U) buried in the ground. The buried object detection unit is an electromagnetic wave sensor. The electromagnetic wave sensor detects the buried state of the buried object U (the presence or absence of the buried object U and the depth of the object U) based on the electromagnetic wave reflected by the buried object (object U) buried in the ground.

[0062] The automatic travel control unit 60a executes control related to the avoidance operation Ac when it is determined that at least a part of the work device 2 hits the object U based on the detection result of the detection device 40 as the avoidance operation Ac. In the present embodiment, the automatic travel control unit 60a controls at least one of the traveling vehicle body 3 and the lifting device 8 to execute an avoidance operation Ac such that at least a part of the work device 2 does not hit the object U. Thereby, the agricultural machine 1 (lifting device 8, traveling vehicle body 3) executes the avoidance operation Ac.

[0063] Specifically, the automatic driving control unit 60a determines whether to perform the avoidance operation Ac based on the detection result of the detection device 40. When an object U is located in the area through which the working device 2 of the agricultural machine 1 traveling on the travel route L passes (hereinafter, for convenience of explanation, referred to as the passing area), the automatic driving control unit 60a determines that there is a possibility that a part of the working device 2 may contact the object U, and controls the avoidance operation Ac.

[0064] Further, when it is determined based on the detection result of the detection device 40 that at least a part of the working device 2 will not hit the object U, the traveling vehicle body 3 performs automatic driving based on the predetermined travel route L and the vehicle body position W1, and the working device 2 performs a predetermined agricultural operation in the field. In other words, by the automatic driving control unit 60a performing control to continue the automatic driving, the agricultural machine 1 continues the predetermined agricultural operation by automatic driving.

[0065] Based on the detection result of the detection device 40, when there is a possibility that at least a part (the claws 2A1, 2B1) of the working device 2 hits the object U and is damaged, at least one of the traveling vehicle body 3 and the lifting device 8 performs an avoidance operation Ac such that at least a part of the working device 2 does not hit the object U and is not damaged.

[0066] The avoidance operation Ac is, for example, the first avoidance operation Ac1 by raising and lowering the lifting device 8. Specifically, when the automatic driving control unit 60a determines that there is a possibility that the claws 2A1, 2B1 of the working device 2 may be damaged when hitting the object U based on the height Uh, hardness, etc. of the object U detected by the detection device 40, the automatic driving control unit 60a raises the lifting device 8 and controls the first avoidance operation Ac1 to prevent the working device 2 from hitting the object U.

[0067] The first avoidance operation Ac1 will be described below. In the first avoidance operation Ac1, the lifting device 8 raises the working device 2 to an avoidance height H that exceeds the height Uh at which at least a part (the claws 2A1 and 2B1) of the working device 2 hits the object U. In the vicinity where the object U is located, the working device 2 does not perform agricultural work (tillage work or plowing work). After the traveling vehicle body 3 passes the object U, the lifting device 8 lowers the working device 2 to resume the agricultural work (tillage work or plowing work) by the working device 2.

[0068] Specifically, the automatic travel control unit 60a uses the detection device 40 to detect the object U, acquire the height Uh of the object U, and determine whether to control the first avoidance operation Ac1.

[0069] When the automatic travel control unit 60a determines to control the first avoidance operation Ac1, it calculates the avoidance height H. The avoidance height H is the height at which the working device 2 exceeds the object U and the claws 2A 1 and 2B1 of the working device 2 do not hit the object U. For example, in the present embodiment, the avoidance height H is the minimum height at which the claws 2A1 and 2B1 of the working device 2 do not hit the object U. For example, the avoidance height H is a value obtained by adding a predetermined value to the height Uh of the object U detected by the detection device 40.

[0070] Note that the avoidance height H only needs to be the minimum height at which the claws 2A1 and 2B1 of the working device 2 can exceed the object U, and the calculation method is not limited to the above method. A value obtained by multiplying the height Uh of the object U detected by the detection device 40 by a predetermined value (for example, 1.1) may be used as the avoidance height H.

[0071] When the automatic travel control unit 60a calculates the avoidance height H, it raises the lifting device 8 based on the detection result of the height detection unit 18 so that the lowest point Y1 (FIGS. 11A and 11B) calculated becomes the avoidance height H, and transitions the posture of the working device 2 to the non-working posture. Note that the automatic travel control unit 60a causes the storage unit 62 to hold the height of the lowest point Y1 before raising the lifting device 8. During the control of the lifting device 8, the automatic travel control unit 60a continues the automatic travel along the travel route L without stopping the traveling vehicle body 3.

[0072] After the automatic travel control unit 60a transitions the posture of the working device 2 to the non-working posture, it lowers the lifting device 8. The automatic travel control unit 60a performs control to lower the lifting device 8 so that the height of the lowest point Y1 becomes the original height (the height held in the storage unit 62) from the avoidance height H, and transitions the posture of the working device 2 to the working posture. At this time, while controlling the lifting device 8, the automatic travel control unit 60a continues the automatic travel along the travel route L without stopping the traveling vehicle body 3. Thereby, the agricultural machine 1 (working device 2) resumes the agricultural work.

[0073] Next, with reference to FIGS. 5A, 5B, and 5C, the first avoidance operation Ac1 by the raising and lowering of the lifting device 8 will be described. FIG. 5A is a diagram for explaining the first avoidance operation Ac1. As shown in FIG. 5A, when the traveling vehicle body 3 is traveling on the travel route L and performing agricultural work, the detection device 40 detects the position PU of the object U, the height Uh of the object U, and the hardness of the object U (Lv1 or Lv2) (position P0 in FIG. 5A). Based on the detection result of the detection device 40, when the automatic travel control unit 60a determines that the working device 2 (claws 2A1, 2B1) may hit the object U and be damaged, it determines to execute the first avoidance operation Ac1. When the automatic travel control unit 60a determines to execute the first avoidance operation Ac1, it defines the control position (position) for controlling the lifting device 8 in order to raise the lowest point Y1 of the working device 2 to the avoidance height H at the position PU.

[0074] FIG. 5B is a diagram showing the variation in the height of the lowest point Y1 of the working device 2 in the first avoidance operation Ac1. At the position P1 shown in FIGS. 5A and 5B, the automatic travel control unit 60a starts the control to raise the lifting device 8 and transitions the posture of the working device 2 to the non-working posture. The position P1 is the vehicle body position at which the lowest point Y1 of the working device 2 can be raised to the avoidance height H before reaching the object U when maintaining the current traveling speed. The automatic travel control unit 60a defines the position P1 by calculating the current traveling speed and the time until the lifting device 8 raises the working device 2 to the avoidance height H. The automatic travel control unit 60a controls the automatic steering device 17 to continue the automatic travel of the traveling vehicle body 3.

[0075] At position P2 shown in FIGS. 5A and 5B, the automatic driving control unit 60a stops controlling the lifting of the lifting device 8. The position P2 is the vehicle body position when the lowest point Y1 of the working device 2 is located around the object U. The automatic driving control unit 60a defines the position P2 based on the distance to the object U (the position PU of the object U) detected by the detection device 40 at P0. As described above, since the automatic driving control unit 60a raises the working device 2 to the avoidance height H before the lowest point Y1 of the working device 2 reaches the object U, the working device 2 (the claws 2A1 and 2B1) is held at the position of the avoidance height H and can be prevented from hitting the object U.

[0076] At position P3 shown in FIGS. 5A and 5B, the automatic driving control unit 60a starts controlling the lowering of the lifting device 8. The position P3 is the vehicle body position after the lowest point Y1 has passed the object U. The automatic driving control unit 60a defines the position P3 based on the distance to the object U detected by the detection device 40 at P0 and the size of the object U.

[0077] At position P4 shown in FIGS. 5A and 5B, the working device 2 descends to a height (working posture) at which it can perform ground operations. The position P4 is the vehicle body position when the working device 2 descends from the avoidance height H to the working posture while maintaining the current traveling speed. Note that it is preferable for the automatic driving control unit 60a to define the positions P2 and P3 so that the distance between the position P2 and the position P4 becomes smaller.

[0078] FIG. 5C is a diagram for explaining the periphery where the object U is located in the first avoidance operation Ac1. As shown in FIG. 5C, the agricultural machine 1 (automatic travel control unit 60a) resumes the farming work from the position P4. For this reason, the work implement 2 does not execute the farming work in the area J0 from the vehicle body position W1 being from the position P1 to the position P4, that is, in the area around where the object U is located, and at least the area J0 becomes an unworked area. Specifically, the unworked area is the area from the position of the front end of the working range of the work implement 2 when the vehicle body position W1 is at the position P1 to the position of the rear end of the working range of the work implement 2 when the vehicle body position W1 is at the position P4. At the position P5 shown in FIG. 5A, the agricultural machine 1 (automatic travel control unit 60a) continues the automatic travel and the farming work.

[0079] Subsequently, the details of the first avoidance operation Ac1 will be described using the flowchart of FIG. 6. The automatic travel control unit 60a acquires the detection result of the object U from the detection device 40 at a predetermined cycle (S1).

[0080] The automatic travel control unit 60a determines whether to execute the first avoidance operation Ac1 based on the acquired detection result of the object U (S2a). The automatic travel control unit 60a determines that the object U will not hit the work implement 2 (claws 2A1, 2B1) when there is no object U in the passing area based on the acquired detection result of the object U. When the automatic travel control unit 60a determines that the object U will not hit the work implement 2, it determines not to execute the first avoidance operation Ac1 (S2a: No) and returns to step S1.

[0081] On the other hand, when the object U is located in the passing area based on the acquired detection result of the object U, the automatic travel control unit 60a determines that the object U will hit the work implement 2 (claws 2A1, 2B1). When the automatic travel control unit 60a determines that the object U will hit the work implement 2, it determines to execute the first avoidance operation Ac1 (S2a: Yes) and transitions to step S3.

[0082] Note that in step S2a, it may be determined whether to execute the first avoidance operation Ac1 based on the hardness of the detected object U. Specifically, when the automatic driving control unit 60a determines that the detection result of the hardness of the acquired object U is Lv1, it determines that the possibility of the claws 2A1 and 2B1 being damaged when the object U hits is low (S2a: No), and returns to step S1. On the other hand, when the automatic driving control unit 60a determines that the position of the acquired object U is within the passing area and the detection result of the hardness of the object U is Lv2, it determines that the possibility of the claws 2A1 and 2B1 being damaged when the object U hits is high (S2a: Yes), and transitions to step S3.

[0083] The automatic driving control unit 60a calculates the avoidance height H (S3). The automatic driving control unit 60a calculates the avoidance height H based on the height Uh of the object U acquired from the detection device 40.

[0084] The automatic driving control unit 60a defines the control positions (positions) P1 to P4 for controlling the lifting device 8 (S4). The automatic driving control unit 60a defines the position P1 at which the control of the ascent of the lifting device 8 starts based on the detection result of the object U acquired from the detection device 40 and the traveling speed of the current traveling vehicle body 3 , the position P2 at which the control of the ascent of the lifting device 8 stops, the position P3 at which the control of the descent of the lifting device 8 starts, and the position P4 at which the control of the descent of the lifting device 8 stops.

[0085] As shown in FIG. 6, when the vehicle body position W1 passes the position P1, the automatic driving control unit 60a starts the control of the ascent of the lifting device 8 (S5). The automatic driving control unit 60a continues the automatic driving of the traveling vehicle body 3 while raising the lifting device 8 until the vehicle body position W1 reaches the position P2.

[0086] When the vehicle body position W1 passes the position P2, the automatic driving control unit 60a stops the control of the ascent of the lifting device 8 (S6). The automatic driving control unit 60a continues the automatic driving of the traveling vehicle body 3 while holding the lowest point Y1 of the working device 2 at the avoidance height H until the vehicle body position W1 reaches the position P3.

[0087] When the vehicle body position W1 passes through the position P3, the automatic driving control unit 60a starts controlling the lowering of the lifting device 8 while continuing the automatic driving of the traveling vehicle body 3 (S7). The automatic driving control unit 60a continues the automatic driving of the traveling vehicle body 3 while lowering the lifting device 8 until the vehicle body position W1 reaches the position P4.

[0088] When the vehicle body position W1 passes through the position P4, the automatic driving control unit 60a stops controlling the lowering of the lifting device 8 (S8). The automatic driving control unit 60a resumes the agricultural work (tilling work or plowing work) by the working device 2 (S9) and returns to step S1.

[0089] In the above-described example, the first avoidance operation Ac1 of raising and lowering the lifting device 8 has been described as the avoidance operation Ac. However, the agricultural machine 1 may perform control of the second avoidance operation Ac2 of decelerating the traveling vehicle body 3 and stopping the automatic driving instead of or in addition to the first avoidance operation Ac1 as the avoidance operation Ac. As the second avoidance operation Ac2, the automatic driving control unit 60a stops the traveling vehicle body 3 at the avoidance position PS before (preferably immediately before) at least a part (the claws 2A1, 2B1) of the working device 2 hits the object U. At this time, the automatic driving control unit 60a gradually reduces (decelerates) the traveling speed until the vehicle body position W1 reaches the avoidance position PS and makes the traveling speed zero (stops the traveling vehicle body 3). When the vehicle body position W1 is located at the avoidance position PS, the object U is located between the front mounting portion 19 and the working device 2 (the claws 2A1, 2B1).

[0090] Specifically, based on the detection result of the detection device 40, when the automatic driving control unit 60a determines that an object U is located in the passing area and at least a part (the claws 2A1, 2B1) of the working device 2 may hit the object U or may be damaged by hitting the object U, the automatic driving control unit 60a calculates and defines the avoidance position PS based on the distance to the object U detected by the detection device 40, the dimensional information of the working device 2, etc. When the automatic driving control unit 60a defines the avoidance position PS, it makes the traveling speed zero at the avoidance position PS (stops the traveling vehicle body 3 at the avoidance position PS).

[0091] Using FIGS. 7A, 7B, and 7C, the second avoidance operation Ac2 will be described. FIG. 7A is a diagram for explaining the second avoidance operation Ac2. As shown in FIG. 7A, when the traveling vehicle body 3 travels along the traveling route L to perform agricultural work, the detection device 40 detects the position PU of the object U and the hardness (Lv1 or Lv2) of the object U (position P6 in FIG. 7A). Based on the detection result of the detection device 40, when the automatic travel control unit 60a determines that the working device 2 (claws 2A1, 2B1) may hit the object U and be damaged, the automatic travel control unit 60a controls the second avoidance operation Ac2. The automatic travel control unit 60a reduces the traveling speed of the traveling vehicle body 3 and stops the traveling vehicle body 3 at the avoidance position PS. As a result, the traveling vehicle body 3 stops at a position where the front end of the working range of the working device 2 approaches the object U.

[0092] FIG. 7B is a diagram showing the variation in the traveling speed of the traveling vehicle body 3 in the second avoidance operation Ac2. As shown in FIG. 7B, until the vehicle body position W1 of the traveling vehicle body 3 reaches the avoidance position PS from the position P6, the traveling speed of the traveling vehicle body 3 decreases (decelerates) from the speed v1, and when the vehicle body position W1 of the traveling vehicle body 3 reaches the avoidance position PS, the traveling speed becomes zero.

[0093] FIG. 7C is a diagram for explaining the working area J1 in the second avoidance operation Ac2. In the second avoidance operation Ac2, unlike the first avoidance operation Ac1, since the automatic travel control unit 60a does not raise the lifting device 8, the working device 2 continues agricultural work until the traveling vehicle body 3 reaches the avoidance position PS. Therefore, as shown in FIG. 7C, the working area J1 is from the rear end of the working range of the working device 2 when the agricultural machine 1 starts automatic travel to the front end of the working range of the working device 2 when the traveling vehicle body 3 stops at the avoidance position PS.

[0094] In the above-described example, when the agricultural machine 1 performs the second avoidance operation Ac2 and the vehicle body position W1 is located at the avoidance position PS, the case where the object U is located between the front mounting portion 19 and the working device 2 (claws 2A1, 2B1) has been described as an example. However, for the second avoidance operation Ac2, it is only necessary that the working device 2 continues to work until the vehicle body position W1 reaches the avoidance position PS, and its operation is not limited to the above-described example.

[0095] For example, when the agricultural machine 1 performs the second avoidance operation Ac2, after stopping at the avoidance position PS, it may reverse to a position (exposed position PB) where the object U is exposed in front of the traveling vehicle body 3 (front attachment portion 19). Specifically, the automatic travel control unit 60a calculates and defines the exposed position PB together with the avoidance position PS based on the detection result of the detection device 40. The automatic travel control unit 60a defines the exposed position PB based on the distance to the object U detected by the detection device 40, the dimensional information of the traveling vehicle body 3, and the like. For example, the storage unit 62 stores the length (first distance d1) from the front end of the working range of the working device 2 to the front end of the traveling vehicle body 3, and the automatic travel control unit 60a defines the exposed position PB based on the first distance d1 and the avoidance position PS.

[0096] When the automatic travel control unit 60a defines the avoidance position PS, it sets the travel speed to zero (stops) at the avoidance position PS. After the automatic travel control unit 60a stops the traveling vehicle body 3 at the avoidance position PS, it raises the lifting device 8 to switch the posture of the working device 2 to the non-working posture. When the automatic travel control unit 60a switches the posture of the working device 2 to the non-working posture, it reverses the traveling vehicle body 3 to the exposed position PB.

[0097] Further, the agricultural machine 1 (automatic travel control unit 60a) may display a screen (interface, operation screen G1) for receiving an instruction to resume agricultural work from the operator on the input / output device (display device) 53, and resume automatic travel and agricultural work based on an operation on the interface displayed on the display device 53. The operation member for receiving the instruction to resume agricultural work may be a physical operation tool (operation switch, control lever, etc.) provided in the driver's seat 10, or a user terminal 57 (remote controller) that can communicate directly or indirectly with the agricultural machine 1 and has a physical and / or electronic interface, and is not limited thereto. Thereby, after the operator removes the object U from the periphery of the travel route L in the field, the operator can instruct the agricultural machine 1 to resume agricultural work.

[0098] The automatic travel control unit 60a causes the input / output device (display device) 53 to display an operation screen G1 that enables an instruction to resume the automatic travel of the agricultural machine 1. When the automatic travel control unit 60a causes the operation screen G1 to be displayed on the input / output device 53, it waits until an instruction to resume is given by the operator.

[0099] FIG. 8A is an example of the operation screen G1 displayed on the input / output device 53. As shown in FIG. 8A, for example, the operation screen G1 includes a message M1 (“Do you want to resume automatic travel?”) and a button B1 (“YES”).

[0100] Note that, as shown in FIG. 8A, the operation screen G1 may include a route display screen G2 that displays the travel route L along which the agricultural machine 1 is traveling. For example, the display members 70 (display members 70a, 70b) indicate the travel route L. The display member 70a indicates the route (untraveled route) along which the agricultural machine 1 in travel will perform automatic travel (agricultural work) next. The display member 70b indicates the route (route of travel record) along which the agricultural machine 1 in travel has performed automatic travel (agricultural work). The display member 71 indicates the current vehicle body position W1 of the agricultural machine 1. The display members 70a, 70b, and 71 are redrawn (updated) on the route display screen G2 according to the vehicle body position W1. The display member 72 indicates the object U detected by the detection device 40. The display member 72 is drawn on the route display screen G2 based on the position PU of the object U. Thereby, the operator can easily grasp the position where the agricultural machine 1 stopped automatic travel (agricultural work) and the position where the object U was detected.

[0101] As shown in FIG. 8B, when the operator operates (taps) the button B1, the automatic travel control unit 60a detects that an instruction to resume automatic travel has been given. When the automatic travel control unit 60a detects that an instruction to resume automatic travel has been given, it performs control to lower the lifting device 8 and switch the posture of the working device 2 to the working posture. When the automatic travel control unit 60a performs control to switch the posture of the working device 2 to the working posture, it resumes control of the automatic travel of the traveling vehicle body 3. Thereby, the agricultural machine 1 resumes agricultural work by automatic travel.

[0102] Next, the details of the second avoidance operation Ac2 will be described using the flowchart of FIG. 9. For the processes equivalent to the first avoidance operation Ac1, the same reference numerals will be used and the description will be omitted.

[0103] The automatic driving control unit 60a determines whether to execute the second avoidance operation Ac2 based on the detected result of the acquired object U (S2b). When the automatic driving control unit 60a determines, based on the detected result of the acquired object U, that there is no object U in the passing area, it determines that the object U will not hit the working device 2 (claws 2A1, 2B1). When the automatic driving control unit 60a determines that the object U will not hit the working device 2, it determines not to execute the second avoidance operation Ac2 (S2b: No), and returns to step S1.

[0104] On the other hand, when the automatic driving control unit 60a determines, based on the detected result of the acquired object U, that the object U is located in the passing area, it determines that the object U will hit the working device 2 (claws 2A1, 2B1). When the automatic driving control unit 60a determines that the object U will hit the working device 2, it determines to execute the second avoidance operation Ac2 (S2b: Yes), and transitions to step S10.

[0105] Note that in step S2b, similar to the case of the first avoidance operation Ac1, it may be determined whether to execute the second avoidance operation Ac2 based on the hardness of the detected object U. That is, when the detection result of the hardness of the object U is Lv1 (S2b: No), the automatic driving control unit 60a returns to step S1. On the other hand, when the object U is located in the passing area and the detection result of the hardness of the object U is Lv2 (S2b: Yes), it transitions to step S10.

[0106] The automatic driving control unit 60a defines the avoidance position PS and the exposure position PB (S10). The automatic driving control unit 60a defines the avoidance position PS based on the position PU of the detected object U and the traveling speed of the current traveling vehicle body 3. When the automatic driving control unit 60a defines the avoidance position PS, it defines the exposure position PB based on the avoidance position PS and the first distance d1.

[0107] The automatic driving control unit 60a starts control to decelerate the traveling vehicle body 3 so that the traveling vehicle body 3 stops at the avoidance position PS (S11), and stops the traveling vehicle body 3 at the avoidance position (S12). When the automatic driving control unit 60a stops the traveling vehicle body 3 at the avoidance position PS, it raises the lifting device 8 to switch the working device 2 to the non-working posture (S13). When the automatic driving control unit 60a switches the working device 2 to the non-working posture, it retreats the traveling vehicle body 3 to the exposure position PB (S1 4).

[0108] The automatic driving control unit 60a waits until there is an instruction from the operator to resume automatic driving. When the operator operates (taps) the button B1 on the operation screen G1 displayed on the input / output device 53, it detects that there is an instruction to resume automatic driving (S15: Yes), and the automatic driving control unit 60a performs control to resume the automatic driving by the traveling vehicle body 3 and the agricultural work (tilling work or plowing work) by the working device 2 (S9).

[0109] Note that the agricultural machine 1 (automatic driving control unit 60a) may execute only one of the first avoidance operation Ac1 and the second avoidance operation Ac2 as the avoidance operation Ac, or may be able to execute both the first avoidance operation Ac1 and the second avoidance operation Ac2. When the agricultural machine 1 can execute both the first avoidance operation Ac1 and the second avoidance operation Ac2, the automatic driving control unit 60a may be able to select the execution of either the first avoidance operation Ac1 or the second avoidance operation Ac2 according to the input to the input / output device 53.

[0110] FIG. 8B is an example of the operation screen G1 on which the selection of the avoidance operation Ac displayed by the input / output device 53 is possible. For example, as shown in FIG. 8B, before starting the automatic driving in the field, when the operator performs a predetermined operation on the input / output device 53, the automatic driving control unit 60a causes the input / output device 53 to display the operation screen G1 on which the selection of the avoidance operation Ac is possible.

[0111] As shown in FIG. 8B, the operation screen G1 includes a message M2 ("Please select an avoidance operation"), a button B2 ("First avoidance operation"), and a button B3 ("Second avoidance operation"). The automatic driving control unit 60a switches the setting of the first avoidance operation Ac1 or the second avoidance operation Ac2 to be performed during automatic driving according to the operation of the selection instruction by the operator. Specifically, when the operator operates the button B2, the automatic driving control unit 60a causes the storage unit 62 to store the execution of the first avoidance operation Ac1 as the avoidance operation Ac. When the agricultural machine 1 starts automatic driving in the field, the automatic driving control unit 60a refers to the storage unit 62 and controls the first avoidance operation Ac1 (FIG. 6).

[0112] On the other hand, when the operator operates the button B3, the storage unit 62 stores the execution of the second avoidance operation Ac2 as the avoidance operation Ac. When the agricultural machine 1 starts automatic driving in the field, the automatic driving control unit 60a refers to the storage unit 62 and controls the second avoidance operation Ac2 (FIG. 9).

[0113] Note that the automatic driving control unit 60a may receive a selection instruction from the operator and switch the setting between the first avoidance operation Ac1 and the second avoidance operation Ac2 while controlling the automatic driving.

[0114] The operation member that receives the instruction to switch the avoidance operation Ac may be a physical operation tool (operation switch, control lever, etc.) provided in the driver's seat 10, or a user terminal 57 (remote controller) that can communicate directly or indirectly with the agricultural machine 1 and has a physical and / or electronic interface.

[0115] Further, the automatic driving control unit 60a may store in the storage unit 62 a map M that associates the area (unworked area) J0 around the object U that does not perform agricultural work, the information (position PU, shape, hardness, etc.) of the object U detected by the detection device 40, and the travel route L, and display the map M on the input / output device (display device) 53.

[0116] FIG. 8C is an example of a map M displayed by the input / output device (display device) 53. The map M includes the identification information D1 of the farm field. The display member 73 indicates the object U. The draw ing position of the display member 73 is the position PU of the object U in the farm field, and the size of the display member 73 indicates the shape (height Uh, width, depth, etc.) of the object U. Also, the display color of the display member 73 may vary depending on the hardness of the object U. In the map M, when the operator touches the display member 73, the automatic travel control unit 60a may display the information of the object U as a pop-up on the operation screen G1. That is, any form in which the information of the object U can be visually recognized in the map M is acceptable, and the display method is not limited.

[0117] The display member 74 indicates the unworked area J0 in the farm field. Specifically, the automatic travel control unit 60a displays the display member 74 on the map M based on the position P1, the position P4, and the working range of the working device 2. Thereby, the operator can easily confirm the presence or absence of the object U in the travel route L (farm field), the information of the object U, and the unworked area J0.

[0118] The map M may be transmitted by the communication device 55 to a server 56 that can communicate with the agricultural machine 1 and stored in the server 56. The map M may be displayed on the user terminal 57 via the server 56. Thereby, the operator can confirm the map M on the user terminal 57.

[0119] Also, in the above-described example, the case where the automatic driving control unit 60a switches the execution of the first avoidance operation Ac1 and the second avoidance operation Ac2 according to the input to the input / output device 53 has been described, but a configuration that automatically switches according to the size of the unworked area J0 may also be used. Specifically, as the shape of the object U becomes longer in the longitudinal direction along the travel route L, the unworked area J0 becomes larger. For this reason, even if the avoidance operation Ac stored in the storage unit 62 is the first avoidance operation Ac1, when the positions P1 and P4 are defined, the automatic driving control unit 60a calculates the area of the unworked area J0 based on the working range of the working device 2, and if the area of the unworked area J0 is larger than a predetermined area defined in advance, the second avoidance operation Ac2 may be executed instead of the first avoidance operation Ac1.

[0120] Note that a configuration may be used in which the execution of the first avoidance operation Ac1 and the second avoidance operation Ac2 is automatically switched according to the shape of the object U detected by the detection device 40. For example, when the automatic driving control unit 60a determines based on the detection result of the detection device 40 that the height Uh of the object U is higher than the height Y1 of the lowest point when the working device 2 is raised to the maximum, the second avoidance operation Ac2 may be executed instead of the first avoidance operation Ac1.

[0121] In the above-described example, the agricultural machine 1 executed the first avoidance operation Ac1 and the second avoidance operation Ac2, respectively, but control combining the first avoidance operation Ac1 by the control of the lifting device 8 and the second avoidance operation Ac2 of stopping the traveling vehicle body 3 while decelerating may also be performed. That is, in the above-described example, the case where automatic driving is continued during the raising and lowering of the lifting device 8 as the first avoidance operation Ac1 has been described, but the automatic driving control unit 60a may define the position P2 as the position where the traveling vehicle body 3 is temporarily stopped and the lifting device 8 is raised, and define the position P3 as the position where the traveling vehicle body 3 is temporarily stopped and the lifting device 8 is lowered without defining the positions P1 and P4.

[0122] At this time, the automatic driving control unit 60a stops the traveling vehicle body 3 at the position P2. When the automatic driving control unit 60a stops the traveling vehicle body 3, it raises the lifting device 8 until the lowest point Y1 of the working device 2 reaches the avoidance height H. When the automatic driving control unit 60a raises the lifting device 8 until the lowest point Y1 of the working device 2 reaches the avoidance height H, it resumes automatic driving. When the lowest point Y1 passes the object U and the vehicle body position W1 reaches the position P3, the traveling vehicle body 3 is stopped. When the automatic driving control unit 60a stops the traveling vehicle body 3 at the position P3, it lowers the lifting device 8. When the automatic driving control unit 60a lowers the lifting device 8 and transitions the posture of the working device 2 to the working posture, it resumes automatic driving.

[0123] A preferred embodiment of the present invention provides the agricultural machine 1 and the agricultural work support system X described in the following items.

[0124] (Item 1) A travelable traveling vehicle body 3 having a positioning device 50, a lifting device 8 that connects a working device 2 to the traveling vehicle body 3 so as to be liftable, and a detection device 40 provided on the traveling vehicle body 3 for detecting the presence and shape of an object U in front of the traveling vehicle body 3 and the distance to the object U. Based on the detection result of the detection device 40, when it is determined that at least a part of the working device 2 hits the object U, at least one of the traveling vehicle body 3 and the lifting device 8 executes an avoidance operation Ac so that at least a part of the working device 2 does not hit the object U. Based on the detection result of the detection device 40, when it is determined that at least a part of the working device 2 does not hit the object U, the traveling vehicle body 3 executes automatic driving based on a predetermined travel route L and the position of the traveling vehicle body 3 detected by the positioning device 50, and the working device 2 executes predetermined agricultural work in the field. The agricultural machine 1.

[0125] According to the agricultural machine 1 according to this Item 1, even when an object U is located in the field, agricultural work in the field can be appropriately performed. In addition, it is possible to prevent the object U from hitting the working device 2.

[0126] (Item 2) In the avoidance operation Ac, the lifting device 8 raises the working device 2 to an avoidance height H exceeding the height Uh at which at least a part of the working device 2 hits the object U, and the working device 2 does not perform agricultural work in the vicinity where the object U is located. The agricultural machine 1 according to Item 1. According to the agricultural machine 1 according to this Item 2, when the object U is detected, the lifting device 8 rises, so that the object U can be prevented from hitting the working device 2. Further, since the lifting device 8 raises the working device 2 based on the detected height Uh of the object U, the amount of movement of the lifting device 8 in the upward movement regarding the avoidance operation Ac can be reduced.

[0127] (Item 3) After the traveling vehicle body 3 passes the object U, the lifting device 8 lowers the working device 2, and the working device 2 resumes agricultural work. The agricultural machine 1 according to Item 2. According to the agricultural machine 1 according to this Item 3, the area where the working device 2 does not perform agricultural work can be reduced.

[0128] (Item 4) In the avoidance operation Ac, the traveling vehicle body 3 automatically travels while decelerating along the traveling route L to the avoidance position PS immediately before at least a part of the working device 2 hits the object U, and then stops. The agricultural machine 1 according to Item 1. According to the agricultural machine 1 according to this Item 4, while preventing the object U from hitting the working device 2, the working device 2 can perform agricultural work until immediately before hitting the object U.

[0129] (Item 5) The traveling vehicle body 3 has a front mounting portion 19 to which the detection device 40 is attached, and at the avoidance position PS, the object U is located between the front mounting portion 19 and the working device 2. The agricultural machine 1 according to Item 4. According to the agricultural machine 1 according to this Item 5, the traveling vehicle body 3 can stop immediately before hitting the object U.

[0130] (Item 6) The detection device 40 detects the hardness of the object U, and based on the detection result of the detection device 40, when there is a possibility that at least a part of the working device 2 hits the object U and is damaged, at least one of the traveling vehicle body 3 and the lifting device 8 performs an avoidance operation Ac so that at least a part of the working device 2 does not hit and damage the object U. The agricultural machine 1 according to any one of Items 1 to 5. According to the agricultural machine 1 according to this Item 6, even when an object U that is relatively hard and may be damaged when hit is located in the field, appropriate agricultural work can be performed, and at least a part of the working device 2 can be prevented from being damaged.

[0131] (Item 7) The agricultural work is tilling work or plowing work in the field, and the working device 2 has claws 2A1, 2B1 for tilling or plowing the field. Based on the detection result of the detection device 40, when the claws 2A1, 2B1 of the working device 2 may be damaged by the object U, at least one of the traveling vehicle body 3 and the lifting device 8 performs the avoidance operation Ac. The agricultural machine 1 according to Item 6. According to the agricultural machine 1 according to this Item 7, the claws 2A1, 2B1 of the working device 2 can be prevented from being damaged. or has plowing claws 2A1, 2B1. Based on the detection result of the detection device 40, when the claws 2A1, 2B1 of the working device 2 may be damaged by the object U, at least one of the traveling vehicle body 3 and the lifting device 8 performs the avoidance operation Ac. The agricultural machine 1 according to Item 6. According to the agricultural machine 1 according to this Item 7, the claws 2A1, 2B1 of the working device 2 can be prevented from being damaged.

[0132] (Item 8) The avoidance operation Ac includes a first avoidance operation Ac1 in which the lifting device 8 raises the working device 2 to an avoidance height H exceeding the height Uh at which the claws 2A1, 2B1 hit the object U, and the working device 2 does not perform agricultural work in the vicinity where the object U is located. After the traveling vehicle body 3 passes the object U, the lifting device 8 lowers the working device 2, and the working device 2 resumes tilling work or plowing work. The agricultural machine 1 according to Item 7.

[0133] According to the agricultural machine 1 related to this item 8, by the lifting device 8 lifting the working device 2, it is possible to avoid the object U hitting the claws 2A1 and 2B1 of the working device 2, and prevent damage to the claws 2A1 and 2B1 of the working device 2. Further, the lifting device 8 can reduce the amount of the lifting operation of the lifting device 8 regarding the avoidance operation Ac by lifting the working device 2 based on the detected height Uh of the object U. Further, in order to resume the agricultural work after the traveling vehicle body 3 passes and avoids the object U, it is possible to reduce the area where the working device 2 does not perform the agricultural work.

[0134] (Item 9) The avoidance operation Ac includes a second avoidance operation Ac2 in which the traveling vehicle body 3 automatically travels while decelerating along the traveling route L until the avoidance position PS immediately before the claws 2A1 and 2B1 hit the object U, and then stops. The traveling vehicle body 3 has a front attachment portion 19 to which the detection device 40 is attached. At the avoidance position PS, the object U is located between the front attachment portion 19 and the claws 2A1 and 2B1. The agricultural machine 1 described in item 7.

[0135] According to the agricultural machine 1 related to this item 9, by the traveling vehicle body 3 stopping, it is possible to avoid the object U hitting the claws 2A1 and 2B1 of the working device 2, and prevent damage to the claws 2A1 and 2B1 of the working device 2. Further, the agricultural work can be carried out until immediately before the object U hits.

[0136] (Item 10) The agricultural machine 1 includes an input / output device 53. When the claws 2A1 and 2B1 may be damaged when hitting an object U, the lifting device 8 raises the working device 2 to an avoidance height H exceeding the height Uh at which the claws 2A1 and 2B1 hit the object U, so that the working device 2 does not perform agricultural operations in the vicinity where the object U is located. After the traveling vehicle body 3 passes the object U, the working device 2 is lowered, and the working device 2 resumes tillage operations or plowing operations, which is the first avoidance operation Ac1. The traveling vehicle body 3 performs automatic traveling while decelerating along the traveling route L to an avoidance position PS immediately before the claws 2A1 and 2B1 hit the object U, and then stops, which is the second avoidance operation Ac2. The traveling vehicle body 3 has a front mounting portion 19 to which the detection device 40 is attached. At the avoidance position PS, the object U is located between the front mounting portion 19 and the claws 2A1 and 2B1. According to the input to the input / output device 53, the agricultural machine 1 described in item 7 switches the execution of the first avoidance operation Ac1 or the second avoidance operation Ac2. According to the agricultural machine 1 according to this item 10, an appropriate avoidance operation Ac can be selected from the first avoidance operation Ac1 and the second avoidance operation Ac2.

[0137] (Item 11) An agricultural work support system X includes the agricultural machine 1 described in any one of items 1 to 10, a server 56 capable of communicating with the agricultural machine 1, and a user terminal 57 capable of communicating with the server 56. According to the agricultural work support system X according to this item 11, an agricultural work support system X having the above-described effects can be realized.

[0138] As described above, the present invention has been explained. It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and all changes within the meaning and scope equivalent to the claims are intended to be included. are intended to be included.

Explanation of Reference Numerals

[0139] 1: Agricultural machine 2(2A, 2B): Working device 2A1, 2B1: Claws 3: Traveling vehicle body 8: Lifting device 19: Front mounting part 40: Detection device 50: Positioning device 53: Input / output device (display device) 56: Server 57: User terminal Ac: Avoidance operation Ac1: First avoidance operation Ac2: Second avoidance operation U: Object Uh: Height of object U H: Avoidance height L: Travel route PS: Avoidance position X: Agricultural work support system

Claims

1. A travelable vehicle body having a positioning device, A lifting device that connects a working device to the vehicle body so as to be able to move up and down, A detection device provided on the vehicle body for detecting the presence, shape, and distance to an object in front of the vehicle body, Based on the detection result of the detection device, when it is determined that at least a part of the working device hits the object, at least one of the vehicle body and the lifting device performs an avoidance operation so that at least a part of the working device does not hit the object, Based on the detection result of the detection device, when it is determined that at least a part of the working device does not hit the object, the vehicle body performs automatic driving based on a predetermined travel route and the position of the vehicle body detected by the positioning device, and the working device performs a predetermined agricultural operation in the field. An agricultural machine.

2. In the avoidance operation, the lifting device raises the working device to an avoidance height exceeding the height at which at least a part of the working device hits the object, and in the vicinity where the object is located, the working device does not perform the agricultural operation. The agricultural machine according to claim 1.

3. After the vehicle body passes the object, the lifting device lowers the working device, and the working device resumes the agricultural operation. The agricultural machine according to claim 2.

4. In the avoidance operation, the vehicle body performs the automatic driving while decelerating along the travel route to an avoidance position immediately before at least a part of the working device hits the object, and then stops. The agricultural machine according to claim 1.

5. The vehicle body has a front mounting portion to which the detection device is attached, At the avoidance position, the object is located between the front mounting portion and the working device. The agricultural machine according to claim 4.

6. The detection device detects the hardness of the object, Based on the detection result of the detection device, when there is a possibility that at least a part of the working device is damaged when hitting the object, at least one of the vehicle body and the lifting device performs the avoidance operation so that at least a part of the working device is not damaged when hitting the object. The agricultural machine according to any one of claims 1 to 5.

7. The agricultural operation is a tilling operation or a plowing operation of the field, The working device has claws for tilling or plowing the field, Based on the detection result of the detection device, when there is a possibility that the claw of the working device may be damaged by the object, the agricultural machine according to claim 6, wherein at least one of the traveling vehicle body and the lifting device executes the avoidance operation.

8. The avoidance operation includes a first avoidance operation in which the lifting device raises the working device to an avoidance height exceeding the height at which the claw hits the object, the working device does not perform the agricultural operation in the vicinity where the object is located, after the traveling vehicle body passes the object, the lifting device lowers the working device, and the working device resumes the tilling operation or the plowing operation. The agricultural machine according to claim 7.

9. The avoidance operation includes a second avoidance operation in which the traveling vehicle body decelerates along the traveling route to an avoidance position immediately before the claw hits the object, executes the automatic traveling, and then stops. The traveling vehicle body has a front mounting portion to which the detection device is attached. The agricultural machine according to claim 7, wherein at the avoidance position, the object is located between the front mounting portion and the claw.

10. Comprising an input / output device. When there is a possibility that the claw may be damaged when hitting the object, the avoidance operation is as follows. The lifting device raises the working device to an avoidance height exceeding the height at which the claw hits the object, the working device does not perform the agricultural operation in the vicinity where the object is located, after the traveling vehicle body passes the object, the working device is lowered, and the working device resumes the tilling operation or the plowing operation. This is the first avoidance operation. The traveling vehicle body decelerates along the traveling route to an avoidance position immediately before the claw hits the object, executes the automatic traveling, and then stops. This is the second avoidance operation. The traveling vehicle body has a front mounting portion to which the detection device is attached. At the avoidance position, the object is located between the front mounting portion and the claw. The agricultural machine according to claim 7, wherein in response to an input to the input / output device, the execution of the first avoidance operation or the second avoidance operation is switched.

11. An agricultural machine according to claim 1. A server capable of communicating with the agricultural machine. A user terminal capable of communicating with the server. An agricultural work support system comprising the above.

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