Travel management system

Abstract

To provide a travel management system that can easily resume unmanned harvesting travel of a harvester even if the harvester stops during unmanned harvesting travel.SOLUTION: There is provided a travel management system for a harvester 1 capable of harvesting crops while traveling in a field in an unmanned state. The system includes: a remote operation device 40 that accepts operations from an operator monitoring the harvester 1 from outside the harvester 1; an object detection unit 2 that detects the presence / absence of objects around the harvester; a notification unit that notifies of the detection status of the object detection unit 2; and a travel control device that causes the harvester 1 to execute unmanned harvesting travel in which the harvester automatically travels in order to harvest crops in an unmanned state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a travel management system for a harvesting machine capable of harvesting crops while traveling in a field unmanned.

Background Art

[0002] For example, in the harvesting machine disclosed in Patent Document 1, an object detection unit (referred to as an "obstacle sensor" in the document) for detecting the presence or absence of an object (referred to as an "obstacle" in the document) around the harvesting machine is provided. When the object detection unit detects an object, the harvesting machine stops.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conventional harvesting machine as disclosed in Patent Document 1, automatic driving on the premise that an operator rides on and monitors the surroundings is performed. When an operator is on board, even if the harvesting machine stops in response to the detection of an object, the operator on board can resume automatic driving by performing a predetermined operation. On the other hand, in a harvesting machine that performs unmanned harvesting travel while traveling unmanned, an operator or the like monitors the harvesting machine outside the harvesting machine. For this reason, when the harvesting machine stops in response to the detection of an object, it may be necessary for an operator or the like to rush to the harvesting machine and take action. In such a case, there is a risk that resuming automatic driving will be a troublesome task. In addition, it is also conceivable that an operator or the like is performing other operations simultaneously as well as monitoring. For this reason, if the unmanned harvesting travel of the harvesting machine stops while the operator is concentrating on other operations, time may pass without the operator noticing the stop of the harvesting machine, leading to a loss of man-hours. In view of this point, there is room for improvement in the configuration to easily resume unmanned harvesting travel.

[0005] An object of the present invention is to provide a travel management system that can easily resume the unmanned harvesting travel of a harvesting machine even when the harvesting machine stops during the unmanned harvesting travel.

Means for Solving the Problems

[0006] The present invention is a travel management system for a harvesting machine capable of harvesting crops while traveling in a field unmanned, comprising a remote control device that receives an operator's operation for monitoring the harvesting machine from outside the harvesting machine, an object detection unit that detects the presence or absence of an object around the harvesting machine, a notification unit that notifies the detection status of the object detection unit, and a travel control device that causes the harvesting machine to perform an unmanned harvesting travel that automatically travels to harvest the crops unmanned. The travel control device is configured to execute a first process of causing the harvesting machine to perform the unmanned harvesting travel in response to the operator operating the remote control device, stop the harvesting machine and interrupt the unmanned harvesting travel of the harvesting machine in response to the object detection unit detecting the object after the start of execution of the first process, and cause the notification unit to notify the detection of the object by executing a second process. The travel control device is configured to execute a third process of causing the notification unit to notify the non-detection of the object in response to the object detection unit no longer detecting the object after the start of execution of the second process, and is configured to be able to execute a fourth process of resuming the unmanned harvesting travel of the harvesting machine in response to the object detection unit no longer detecting the object and the operator operating the remote control device after the start of execution of the second process.

[0007] According to the present invention, in the second process, detection of an object is reported along with stopping of the harvester in response to detection of the object. For this reason, an operator or the like can quickly notice interruption of unmanned harvesting travel and the presence of an object in the field. For this reason, the operator or the like can quickly respond to the object after recognizing the presence of the object in the field. Further, in the third process, non-detection of the object is reported. For this reason, the operator or the like can recognize that the cause of interruption of unmanned harvesting travel has been eliminated. Then, the operator or the like can resume unmanned harvesting travel by operating the remote control device without having to rush to the harvester. As a result, a travel management system is realized that can easily resume unmanned harvesting travel of the harvester even when the harvester stops during unmanned harvesting travel.

[0008] In the present invention, it is preferable that the travel control device is configured not to be able to execute the fourth process when the object detection unit is detecting the object.

[0009] With this configuration, the possibility that unmanned harvesting travel of the harvester is resumed without the cause of interruption of unmanned harvesting travel being eliminated is avoided.

[0010] In the present invention, it is preferable that the remote control device is provided with a plurality of operating tools operated by the operator, and the travel control device is configured to execute the fourth process in response to the object detection unit no longer detecting the object and the operator operating the plurality of operating tools simultaneously.

[0011] With this configuration, unmanned harvesting travel of the harvester does not resume unless the operator operates a plurality of operating tools simultaneously. For this reason, unmanned harvesting travel of the harvester is resumed by an operation with the intention of the operator.

[0012] In the present invention, it is preferable that the remote control device is provided with an operating tool operated by the operator, and the travel control device is configured to execute the fourth process in response to the object detection unit no longer detecting the object and the operator continuously operating the operating tool for a preset time or longer.

[0013] With this configuration, if the operator does not operate the operating tool for a time longer than the preset time, the unmanned harvesting travel of the harvester will not resume. Therefore, the unmanned harvesting travel of the harvester is resumed by an operation with the intention of the operator.

[0014] In the present invention, it is preferable that the harvester is provided with a receiving device that receives a signal from a navigation satellite, and the travel control device is configured to execute a fifth process of stopping the harvester and interrupting the unmanned harvesting travel of the harvester in response to the reception accuracy of the receiving device becoming worse than a preset threshold value after the start of execution of the first process, and to execute a sixth process of resuming the unmanned harvesting travel of the harvester in response to the reception accuracy becoming better than the preset threshold value after the start of execution of the fifth process.

[0015] The reception accuracy often deteriorates temporarily. Therefore, with this configuration, the operator or the like does not feel bothered, and the unmanned harvesting travel of the harvester is resumed in response to the recovery of the reception accuracy.

[0016] In the present invention, it is preferable that the harvester is provided with a harvest amount detection unit that detects the harvest amount of the crop, and the travel control device is configured to execute a seventh process of interrupting the unmanned harvesting travel of the harvester and driving the harvester to a discharge position where the crop can be discharged in response to the harvest amount becoming more than a preset threshold value after the start of execution of the first process, and to be able to execute an eighth process of resuming the unmanned harvesting travel of the harvester in response to the operator operating the remote control device after the crop is discharged from the harvester.

[0017] With this configuration, for example, even when the tank of the harvester is full of the crop, the crop is appropriately discharged at the discharge position. Also, the unmanned harvesting travel of the harvester is resumed in response to the operator operating the remote control device. Therefore, the unmanned harvesting travel of the harvester is resumed by an operation with the intention of the operator.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 9

Figure 10

Modes for Carrying Out the Invention

[0019] The modes for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in the figure is "front", the direction of the arrow "B" is "rear". Also, the direction of the arrow "U" in the figure is "up", the direction of the arrow "D" is "down". Also, the direction of the arrow "N" in the figure is "north", the direction of the arrow "S" is "south", the direction of the arrow "E" is "east", and the direction of the arrow "W" is "west". Also, "left" and "right" are defined based on the front-rear direction line of the advancing harvester.

[0020] 〔Overall Configuration of Combine〕 As shown in FIG. 1, a conventional combine 1, which is an example of a harvester, includes an indicator lamp 3, a harvesting unit H, a crawler-type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a conveying unit 16, a grain discharging device 18, and a satellite positioning module 80. The satellite positioning module 80 corresponds to the “reception device”.

[0021] The traveling device 11 is provided at the lower part of the body 19 of the combine 1. Also, the traveling device 11 is driven by power from an engine (not shown) mounted on the combine 1. And the combine 1 can travel by the traveling device 11.

[0022] The traveling device 11 is provided with a body attitude changing mechanism 11A. The body attitude changing mechanism 11A, also commonly called the “mono”, is configured to be able to separately change the height position of the body 19 with respect to each of the left and right crawler mechanisms. That is, the traveling device 11 has a body attitude changing mechanism 11A that changes the attitude of the body 19 with respect to the ground.

[0023] Also, the operation unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The operation unit 12 has an operation seat 12a. An operator (including a user, a worker, a monitor, a manager, etc., the same hereinafter) can board the operation unit 12. The satellite positioning module 80 is attached to the upper surface of the operation unit 12.

[0024] The harvesting unit H is provided at the front of the combine 1. And the conveying unit 16 is provided behind the harvesting unit H. Also, the harvesting unit H includes left and right weed dividers 10, a cutting blade 15, and a reel 17. The harvesting unit H, together with the conveying unit 16, can be lifted and lowered by a lifting mechanism (not shown).

[0025] The left and right straw dividers 10 are provided at the left and right ends of the front end of the harvesting unit H. The left and right straw dividers 10 divide the standing cereal straws in the field 5 (see Fig. 2) into harvested and non-harvested ones. The standing cereal straws on the right side of the left straw divider 10 and on the left side of the right straw divider 10 are divided as harvested objects. The standing cereal straws on the left side of the left straw divider 10 and on the right side of the right straw divider 10 are divided as non-targets.

[0026] The cutting blade 15 cuts the standing cereal straws divided as harvested objects by the left and right straw dividers 10. Also, the reel 17 scrapes in the standing cereal straws to be harvested while rotating around the reel axis 17b along the left-right direction of the machine body. The cut cereal straws cut by the cutting blade 15 are sent to the conveying unit 16.

[0027] With this configuration, the harvesting unit H harvests the grains in the field 5 that the combine 1 is traveling on. And the combine 1 is capable of harvesting travel in which it travels by the traveling device 11 while harvesting the grains in the field 5 by the harvesting unit H.

[0028] The cut cereal straws harvested by the harvesting unit H are conveyed rearward of the machine body by the conveying unit 16. Thereby, the cut cereal straws are conveyed to the threshing device 13.

[0029] In the threshing device 13, the harvested cereal straws are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grain tank 14 temporarily stores the grains harvested while traveling. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharging device 18 as needed. The holding cradle 18A is configured to support the horizontal cylinder portion of the horizontal conveying screw in the grain discharging device 18. The grain discharging device 18 has a vertical conveying screw and a horizontal conveying screw. The vertical conveying screw guides the grains upward from the bottom of the grain tank 14 with a spiral screw and delivers them to the horizontal conveying screw. The horizontal conveying screw guides the grains received from the vertical conveying screw with a spiral screw to the discharge port at the tip of the horizontal cylinder portion. The holding cradle 18A is connected to, for example, the upper part of the threshing device 13. The horizontal cylinder portion of the grain discharging device 18 is provided above the threshing device 13 and the grain tank 14.

[0030] Also, as shown in FIG. 1, a display operation terminal 4 is arranged in the operation unit 12. The display operation terminal 4 has, for example, a touch panel monitor, is configured to be able to display various information, and is configured to be able to perform various setting operations related to automatic harvesting travel. In the present embodiment, the display operation terminal 4 is fixed to the operation unit 12. Note that the present invention is not limited to this, and the display operation terminal 4 may be configured to be detachable from the operation unit 12, or the display operation terminal 4 may be located outside the combine 1.

[0031] The obstacle sensor group 2 senses different directions and detects the presence or absence of objects around the body 19 of the combine 1. The object is an obstacle to the combine 1. In the present embodiment, as shown in FIG. 1, the obstacle sensor group 2 includes a plurality of millimeter-wave radars 2A as distance measuring sensors and a plurality of cameras 2B that generate captured images. The obstacle sensor group 2 corresponds to the 'object detection unit'.

[0032] The millimeter-wave radar 2A is attached at two locations, namely, the front end of the cabin that constitutes the operation unit 12 and the rear end of the threshing device 13. The millimeter-wave radar 2A is a sensor that irradiates a detection target area with millimeter waves for sensing. As a distance measurement sensor, in addition to the millimeter-wave radar 2A, LiDAR (lidar), sonar, etc. can be used.

[0033] The camera 2B is attached at four locations, namely, the front end of the cabin that constitutes the operation unit 12, the right side of the cabin, the left side of the threshing device 13, and the rear end of the threshing device 13. A wide-angle lens is attached to the camera 2B, and its shooting angle of view is approximately 180 degrees. For this reason, these cameras 2B image the entire body 19. The captured image of the camera 2B is used as an input image for a deep learning-based learning type object detection algorithm or other image recognition algorithms. That is, although not particularly limited, the camera 2B in the present embodiment is an object recognition sensor using AI.

[0034] When the harvesting unit H as a working device is raised, the harvesting unit H may enter the sensing range of the millimeter-wave radar 2A and the camera 2B attached to the front end of the cabin and interfere with object detection. In this case, among the object detections by the millimeter-wave radar 2A and the camera 2B, the object detection in front of the body 19 may be stopped, that is, a configuration may be adopted in which only the millimeter-wave radar 2A and the camera 2B attached to the front end of the cabin are set to OFF.

[0035] The indicator lamp 3 is, for example, a stacked indicator lamp of LEDs (light emitting diodes), and notifies an operator outside the combine 1 of the state of the combine 1 (particularly, the state of automatic harvesting travel) by light and color.

[0036] When the combine 1 performs a harvesting operation in the field 5, after performing an outer perimeter travel as shown in the travel locus TR of FIG. 2, it is configured to perform a harvesting travel by automatic travel or manual travel. Note that the outer perimeter travel is a harvesting travel performed in the outer perimeter area of the field 5 by manual operation. Note that the present invention is not limited to this, and the harvesting travel performed in the outer perimeter area may be performed by automatic travel. Further, the combine 1 can also perform a harvesting travel by manual operation in all areas within the field.

[0037] In FIG. 2, the path along which the combine 1 travels during the outer perimeter travel is indicated by the travel locus TR. Although details will be described later, when the harvesting travel along this path is completed, the harvesting travel inside the field 5 is performed. The outer perimeter travel in the present embodiment is a harvesting travel that goes around the outermost perimeter of the field 5 as shown in FIG. 2. Note that the present invention is not limited to this, and a round-trip travel of two or more rounds may be performed.

[0038] 〔Explanation of the electronic control system〕 As shown in FIG. 3, the travel of the combine 1 is controlled by a travel management system A. That is, the travel management system A controls the travel of the combine 1 that can perform automatic travel. Note that the combine 1 can perform automatic travel in a state where no operator is on board the driver's cab 12. That is, the combine 1 is configured to be able to harvest crops while automatically traveling through the field 5 in a unmanned state where no operator is on board the driver's cab 12. The combine 1 automatically traveling through the field 5 in a unmanned state and harvesting crops is referred to as "unmanned harvesting travel".

[0039] Further, the combine 1 is configured to be able to harvest crops while automatically traveling through the field 5 in a manned state where an operator is on board the driver's cab 12. The combine 1 automatically traveling through the field 5 in a manned state where an operator is on board the driver's cab 12 and harvesting crops is referred to as "manned harvesting travel". Also, unmanned harvesting travel and manned harvesting travel are collectively referred to as "automatic harvesting travel".

[0040] As shown in FIG. 3, the travel management system A includes a control device 20. The control device 20 has a position calculation unit 21, an area calculation unit 22, a route generation unit 23, and a drive control unit 24. Note that the control device 20 is mounted on the combine 1. Further, the obstacle sensor group 2, the indicator lamp 3, the yield measurement unit 30, the remote operation device 40, and the satellite positioning module 80 are included in the travel management system A. The control device 20 (particularly the drive control unit 24) corresponds to the “travel control device”.

[0041] In the present embodiment, as described above, the obstacle sensor group 2 includes two millimeter-wave radars 2A and four cameras 2B. The distance measurement signal from the millimeter-wave radar 2A and the imaging signal (captured image) from the camera 2B are sent to the control device 20.

[0042] The satellite positioning module 80 receives a positioning signal from a navigation satellite GS (see FIG. 1) used in GNSS (Global Navigation Satellite System, such as GPS, GLONASS, Galileo, QZSS, BeiDou, etc.) and sends the positioning signal to the position calculation unit 21.

[0043] The position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates are sent to the area calculation unit 22 and the drive control unit 24.

[0044] The area calculation unit 22 calculates the field outer shape EA and the work target area WA as shown in FIG. 2 based on the position coordinates received from the position calculation unit 21. More specifically, the area calculation unit 22 calculates the travel trajectory TR (see FIG. 2) of the combine 1 based on the outer peripheral travel based on the position coordinates received from the position calculation unit 21. Then, the area calculation unit 22 calculates the movement trajectories of the dividing tools 10 located outside the field and the movement trajectories of the dividing tools 10 located inside the field among the left and right dividing tools 10 based on the calculated travel trajectory TR.

[0045] Furthermore, the area calculation unit 22 calculates the outer shape EA of the field based on the movement locus of the weeding tool 10 located outside the field. In FIG. 2, the calculated outer shape EA of the field coincides with the actual outer shape line of the field 5, but the present invention is not limited thereto. The calculated outer shape EA of the field may not coincide with the actual outer shape line of the field 5. For example, the outer shape EA of the field may be located inside the field rather than the actual outer shape line of the field 5.

[0046] In addition, the area calculation unit 22 calculates the unworked area UA based on the movement locus of the weeding tool 10 located inside the field. The unworked area UA is the area inside the movement locus of the weeding tool 10 located inside the field during the outer circumferential travel (in other words, the area surrounded by the movement locus). Furthermore, the area calculation unit 22 calculates the work target area WA by approximating the unworked area UA to a rectangle (rectangular shape). The map (field outer shape EA, unworked area UA, and work target area WA) generated by the area calculation unit 22 is sent to the route generation unit 23.

[0047] Based on the map received from the area calculation unit 22, the route generation unit 23 generates a plurality of travel routes LI as shown in FIG. 2. The travel route LI is a route for the combine 1 to perform automatic harvesting travel in the work target area WA. Although not particularly limited, as shown in FIG. 2, in the present embodiment, the travel route LI is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines do not have to be straight lines and may be curved. The plurality of travel routes LI generated by the route generation unit 23 are sent to the travel control unit 24B of the drive control unit 24.

[0048] The drive control unit 24 is configured to be able to automatically control the travel device 11, the harvesting unit H, the threshing device 13, the grain discharging device 18, etc. so that the combine 1 harvests crops while automatically traveling. The drive control unit 24 is provided with a mode management unit 24A, a travel control unit 24B, and a work control unit 24C.

[0049] The mode management unit 24A manages the modes of the control device 20. As shown in FIG. 4, the modes of the control device 20 include a manual driving mode, an automatic preparation mode, an automatic harvesting driving mode, a discharge driving mode, a temporary interruption mode, and an alarm mode. Note that two sub-modes, an unmanned harvesting driving mode and a manned harvesting driving mode, are set in the automatic harvesting driving mode.

[0050] The unmanned harvesting driving mode is a mode that allows automatic driving by the drive control unit 24 when no operator or the like is detected in the driving unit 12. In the unmanned harvesting driving mode, the combine 1 automatically travels while harvesting crops in an unmanned state where no operator rides on the driving unit 12. In other words, the unmanned harvesting driving of the combine 1 appears in the unmanned harvesting driving mode.

[0051] The manned harvesting driving mode is a mode that does not allow automatic driving by the drive control unit 24 when no operator or the like is detected in the driving unit 12. In the manned harvesting driving mode, the combine 1 automatically travels while harvesting crops with an operator on the driving unit 12. In other words, the manned harvesting driving of the combine 1 appears in the manned harvesting driving mode.

[0052] The automatic harvesting driving mode setting unit 27 is configured to enable selection and setting of either the manned harvesting driving mode or the unmanned harvesting driving mode in the automatic harvesting driving mode. The automatic harvesting driving mode setting unit 27 may be configured to execute the selection and setting by receiving a manual operation from, for example, the display operation terminal 4, or may be configured to execute the selection and setting by receiving a manual operation from, for example, a smartphone or a tablet computer.

[0053] In the manned harvesting driving mode, it is possible to select and set whether the detection of surrounding objects by the obstacle sensor group 2 is "effective" or "ineffective". In the unmanned harvesting driving mode, the detection of surrounding objects by the obstacle sensor group 2 is always set to "effective".

[0054] When the setting of the obstacle sensor group 2 is set to "invalid" and the manned harvesting travel mode is set in the sub-mode, an operator can sit on the driver's seat 12a, and automatic harvesting travel becomes possible while the operator monitors the surroundings. Thereby, even when a failure occurs in at least one of the sensors in the obstacle sensor group 2, automatic harvesting travel with manned monitoring becomes possible.

[0055] When the mode of the control device 20 is selected to be the manual travel mode, based on the operation by the operator boarding the driving unit 12, the travel control unit 24B and the work control unit 24C output the steering amount, the shift command, etc., and control the travel device 11 and the work device group. Thereby, manual driving is realized. Note that the travel route LI generated by the route generation unit 23 can be used for the purpose of guiding the combine 1 to travel along the travel route LI even in the case of manual driving.

[0056] When the mode of the control device 20 is selected to be the automatic travel mode, the travel control unit 24B selects the travel route LI along which the combine 1 should travel from among a plurality of travel routes LI based on the position coordinates of the combine 1 received from the position calculation unit 21.

[0057] And the travel control unit 24B is configured to control the automatic travel of the combine 1 by controlling the travel device 11. The travel control unit 24B controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 and the information indicating the travel route LI selected by the travel control unit 24B. More specifically, the travel control unit 24B controls the travel device 11 so that automatic harvesting travel along the travel route LI is performed.

[0058] The travel control unit 24B selects the travel route LI from among the travel routes LI that have not been traveled yet among the plurality of travel routes LI. It is preferable that the drive control unit 24 selects the travel route LI so that the travel of the combine 1 becomes efficient based on the position coordinates of the combine 1 received from the position calculation unit 21.

[0059] When the above sub-mode is set to the unmanned harvesting travel mode, the travel control unit 24B is configured to execute unmanned harvesting travel control for automatically controlling the travel device 11 to travel for harvesting crops unmanned.

[0060] The work control unit 24C controls a group of work devices such as the harvesting unit H, the threshing device 13, and the grain discharging device 18.

[0061] The yield acquisition unit 25 acquires the storage amount of grains in the grain tank 14 based on the detection signal of the yield measurement unit 30. The yield measurement unit 30 is, for example, a load cell, which is disposed below the grain tank 14 and contacts the bottom of the grain tank 14. Therefore, the yield measurement unit 30 is configured to measure the mass of the grains stored in the grain tank 14. The yield acquisition unit 25 and the yield measurement unit 30 correspond to the 'harvest amount detection unit'.

[0062] The notification unit 26 is configured to notify the state of the combine 1 with the display lamp 3 according to the mode of the control device 20. In addition, the notification unit 26 is configured to notify the state of the combine 1 with sounds such as a buzzer and voice guidance as necessary.

[0063] Note that the control device 20 and each element included in the control device 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0064] As shown in FIG. 3, the travel management system A includes a remote operation device 40. The remote operation device 40 is configured to receive a manual operation of an operator who monitors the combine 1 from outside the combine 1. The operator can perform an operation related to the automatic travel of the combine 1 using the remote operation device 40.

[0065] Specifically, as shown in FIGS. 1 and 3, the remote control device 40 has an operating tool 41 and an end button 42. After the plurality of travel routes LI described above are generated, when the operating tool 41 receives a manual operation when the combine 1 is not performing automatic travel, the remote control device 40 sends a predetermined signal to the drive control unit 24. The drive control unit 24 starts the automatic harvesting travel of the combine 1 according to the signal.

[0066] While the combine 1 is performing automatic travel, the operator can monitor the automatic travel of the combine 1 from outside the combine 1 while holding the remote control device 40.

[0067] [Regarding Mode Switching in the Control Device] Regarding mode switching in the control device 20, it will be described based on FIG. 4. The mode management unit 24A shown in FIG. 3 can switch modes by satisfying a predetermined condition. As shown in FIG. 4, the mode of the combine 1 can be switched from the manual travel mode to the automatic harvesting travel mode.

[0068] The switching from the manual travel mode to the automatic harvesting travel mode is not performed directly, but is performed via the automatic preparation mode. Also, when an event occurs to end the automatic harvesting travel during the automatic harvesting travel, the mode of the control device 20 is automatically switched from the automatic harvesting travel mode to any one of the automatic preparation mode, the alarm mode, the discharge travel mode, and the temporary interruption mode.

[0069] First, the transition from the manual travel mode to the automatic preparation mode is possible when [Condition 01] shown in FIG. 4 is satisfied. The following are exemplified as [Condition 01]. [Condition 01-1]: The traveling device 11 is stopped. [Condition 01-2]: The travel control unit 24B can determine the travel route LI near the vehicle position based on the latest position coordinates of the combine 1 and calculate the positional deviation between the vehicle position and the travel route LI. [Condition 01-3]: The drives of the harvesting unit H and the threshing device 13 are stopped. [Condition 01-4]: The satellite positioning module 80 is operating normally. [Condition 01-5]: There is a margin in the grain tank 14 (the storage amount is below the threshold). [Condition 01-6]: There is a margin in the fuel (the remaining fuel is above the threshold). [Condition 01-7]: There is an unworked area UA remaining. [Condition 01-8]: The seat belt of the driver's seat 12a is fastened (only in the case of the manned harvesting driving mode). [Condition 01-9]: The access door of the driver's cab 12 is closed.

[0070] That is, Condition 01 is a preliminary set of conditions for automatic harvesting driving. When all (or almost all) of these conditions are satisfied, the traveling device 11 and the working equipment group (Figure 3) necessary for automatic driving are ready. Then, when the operator operates the operating tool 41 of the remote control device 40 in a state where Condition 01 necessary for shifting to the automatic preparation mode is satisfied, the mode of the control device 20 shifts from the manual driving mode to the automatic preparation mode. When the operator wants to shift the mode of the control device 20 from the automatic preparation mode to the manual mode, when the operator operates the end button 42 of the remote control device 40, the mode of the control device 20 shifts from the automatic preparation mode to the manual mode.

[0071] As conditions for shifting from the automatic preparation mode to the automatic harvesting driving mode ([Condition 02]), the following conditions are exemplified. [Condition 02-1]: The obstacle sensor group 2 does not detect the presence of an object around the combine 1 (in the case of the unmanned harvesting driving mode, or in the case of the manned harvesting driving mode where the detection of surrounding objects by the obstacle sensor group 2 is set to 'effective'). [Condition 02-2]: The operating tool 41 of the remote control device 40 is operated.

[0072] When the sub-mode of the automatic harvesting driving mode is set to the manned harvesting driving mode and the detection of surrounding objects by the obstacle sensor group 2 is set to 'invalid', the determination of [Condition 02-1] is omitted.

[0073] As shown in FIGS. 1 and 3, the operating tool 41 is composed of a first button 41A and a second button 41B that are adjacent to each other on the left and right. Both the first button 41A and the second button 41B are buttons. That is, the operating tool 41 is composed of a plurality of buttons. In the present embodiment, the manual operation for starting the automatic running of the combine 1 is to simultaneously press and hold the first button 41A and the second button 41B for one second. And the control device 20 is configured to execute a process (the 'first process') for causing the combine 1 to perform automatic harvesting running (unmanned harvesting running in the case of the unmanned harvesting running mode, the same hereinafter) in response to the operator operating the remote control device 40.

[0074] When the [Condition 03] shown in FIG. 4 is satisfied, the mode of the control device 20 shifts from the automatic harvesting running mode to the manual running mode. The condition included in [Condition 03] is that the end button 42 of the remote control device 40 is operated. That is, when the end button 42 receives an operation while the combine 1 is performing automatic running, the remote control device 40 sends a predetermined signal to the drive control unit 24. The drive control unit 24 ends the automatic harvesting running of the combine 1 in response to the signal. As a result, the running of the combine 1 stops.

[0075] Also, during the automatic harvesting running of the combine 1, if any abnormality occurs and it corresponds to [Condition 04] shown in FIG. 4, the automatic harvesting running of the combine 1 is aborted, and the mode of the control device 20 shifts from the automatic harvesting running mode to the alarm mode. At this time, the traveling device 11, the harvesting unit H, and the threshing device 13 stop. [Condition 04] includes, for example, the following events. If it corresponds to at least one of the following events or a predetermined event other than the following events, based on [Condition 04], the mode of the control device 20 shifts from the automatic harvesting running mode to the alarm mode. [Condition 04-1]: An instantaneous interruption has occurred in the electronic control devices such as the control device 20 and peripheral devices. [Condition 04-2]: The vehicle speed is abnormal (the vehicle speed is equal to or higher than the threshold value). [Condition 04-3]: An abnormal load (such as clogging) has been detected in the harvesting unit H or the threshing device 13. [Condition 04-4]: The position coordinates of the combine 1 deviated outside the allowable range with respect to the travel route LI. [Condition 04-5]: The boarding and alighting doors of the driver's cab 12 opened.

[0076] When the mode of the control device 20 shifts from the automatic harvesting travel mode to the alarm mode, if an operator or the like rushes to the combine 1 and performs a predetermined operation on the display operation terminal 4 or the like arranged in the driver's cab 12, the alarm mode is cancelled and the mode of the control device 20 shifts to the manual travel mode. In order to resume the automatic harvesting travel, it is necessary for an operator or the like to perform a predetermined operation so as to satisfy [Condition 01] and [Condition 02] again.

[0077] [Temporary interruption process for automatic harvesting travel by object detection] Even when an event that interrupts the automatic harvesting travel of the combine 1 occurs, if the event can be resolved immediately, it is desirable to have a configuration that can quickly resume the automatic harvesting travel of the combine 1 without shifting the mode of the control device 20 to the alarm mode. For this reason, in the present embodiment, the mode of the control device 20 is configured to be able to shift from the automatic harvesting travel mode to the automatic preparation mode. And [Condition 05] shown in FIG. 4 is set as the condition for shifting the mode of the control device 20 from the automatic harvesting travel mode to the automatic preparation mode.

[0078] As described above, the control device 20 is configured to be able to select and set 'effective' or 'invalid' for the detection of surrounding objects by the obstacle sensor group 2. And in the unmanned harvesting travel mode, the control device 20 automatically sets the detection of surrounding objects by the obstacle sensor group 2 to be 'effective'.

[0079] In [Condition 05] shown in FIG. 4, when the detection of surrounding objects by the obstacle sensor group 2 is set to be "effective", it includes the case where the obstacle sensor group 2 detects the presence of an object around the combine 1. When the presence of an object is detected around the combine 1, the obstacle sensor group 2 detects and transmits a signal to the control device 20. Then, the control device 20 interrupts the automatic harvesting travel of the combine 1 according to the detection signal. As a result, the travel of the combine 1 temporarily stops.

[0080] Note that in [Condition 05], when the mode of the control device 20 is the manned harvesting travel mode, it may include the case where the seat belt of the driver's seat 12a is removed.

[0081] The process executed based on the fact that [Condition 05] is met will be described with reference to FIG. 5. When the obstacle sensor group 2 detects an object around the combine 1, the mode of the control device 20 shifts from the automatic harvesting travel mode to the automatic preparation mode (step #01). At this time, the travel control unit 24B stops the travel device 11 (step #02). Then, the travel device 11, the harvesting unit H, and the threshing device 13 stop.

[0082] Furthermore, the notification unit 26 controls the indicator lamp 3 to notify the detection of the object (step #03). At this time, for example, the red light of the indicator lamp 3 (stacked indicator lamp) blinks. Also, a sound notification is made from a buzzer, a voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process (the "second process") of stopping the combine 1 and interrupting the automatic harvesting travel of the combine 1 in response to the obstacle sensor group 2 detecting an object after the start of the automatic harvesting travel, and notifying the notification unit 26 of the detection of the object. And the indicator lamp 3 is configured to notify the operator, etc. of the detection status of the obstacle sensor group 2.

[0083] After the automatic harvesting operation is interrupted based on meeting [[Condition 05]] (shown as "A" in FIGS. 5 and 6), in order to resume the automatic harvesting operation, it is necessary to satisfy the above-mentioned [[Condition 02]]. That is, as shown in FIG. 6, it is determined whether or not the obstacle sensor group 2 has stopped detecting an object ([Condition 2-1], step #04), and the determination in step #04 is repeated until a Yes determination is made in step #04, and the combine 1 remains in a standby state while stopped. That is, the control device 20 is configured such that when the obstacle sensor group 2 is detecting an object (step #04: No), the process of resuming the automatic harvesting operation of the combine 1 cannot be executed.

[0084] When a Yes determination is made in step #04, the notification unit 26 notifies the non-detection of the object (step #05). At this time, for example, among the display lights 3 (stacked display lights), a configuration in which green or yellow (orange) light blinks may be used, or a configuration in which all-color light blinks may be used. Also, audible notification may be performed from a buzzer, a voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process (the "third process") of causing the notification unit 26 to notify the non-detection of the object in response to the obstacle sensor group 2 having stopped detecting an object after the interruption process of the automatic harvesting operation.

[0085] Then, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated ([Condition 2-2], step #06), and the determination in step #06 is repeated until a Yes determination is made in step #06, and the combine 1 remains in a standby state while stopped. The control device 20 is configured to be able to execute a process (the "fourth process") of resuming the automatic harvesting operation of the combine 1 in response to the obstacle sensor group 2 having stopped detecting an object and the operator having operated the remote operation device 40 after the interruption process of the automatic harvesting operation.

[0086] Specifically, when the operator simultaneously presses and holds the first button 41A and the second button 41B for one second, the determination in step #06 becomes Yes. That is, the control device 20 is configured to execute a process (the "fourth process") of restarting the automatic harvesting travel of the combine 1 in response to the obstacle sensor group 2 no longer detecting an object, the operator operating a plurality of operating tools 41 simultaneously, and the operator continuously operating the plurality of operating tools 41 for one second or more.

[0087] When the determination in step #07 is Yes, the mode of the control device 20 shifts from the automatic preparation mode to the automatic harvesting travel mode (step #07), and the automatic harvesting travel is restarted (step #08).

[0088] Note that even if the automatic harvesting travel is interrupted due to object detection during the turning path (the path that turns midway between the two travel paths LI), the automatic harvesting travel is restarted to travel along the turning path. As a result, the mode of the control device 20 is set to the unmanned harvesting travel mode, and even when the unmanned harvesting travel is interrupted, there is no need for the operator or the like to manually move the combine 1 onto the travel path LI, and the unmanned harvesting travel can be smoothly restarted.

[0089] 〔Temporary interruption process of automatic harvesting travel due to decrease in reception accuracy of satellite positioning module〕 As shown in FIG. 4, in this embodiment, the control device 20 is provided with a temporary interruption mode as a mode. The temporary interruption mode is a mode for temporarily interrupting the automatic harvesting travel in response to the occurrence of an interruption factor and immediately restarting the automatic harvesting travel in response to the elimination of the interruption factor.

[0090] The [condition 11] for the mode of the control device 20 to shift from the automatic harvesting travel mode to the temporary interruption mode includes that the reception accuracy of the satellite positioning module 80 has fallen below the threshold value. Factors for the reception accuracy of the satellite positioning module 80 falling below the threshold value include a shortage of the number of available navigation satellites GS and the occurrence of multipath.

[0091] The process executed based on meeting [[Condition 11]] will be described with reference to FIG. 7. When the reception accuracy of the satellite positioning module 80 falls below the threshold value, the mode of the control device 20 shifts from the automatic harvesting travel mode to the temporary interruption mode (Step #11). At this time, the travel control unit 24B stops the travel device 11 (Step #12). Then, the travel device 11, the harvesting unit H, and the threshing device 13 stop.

[0092] Furthermore, the notification unit 26 controls the display lamp 3 to notify of the decrease in the reception accuracy (Step #13). At this time, for example, the yellow (orange) light of the display lamp 3 (stacked display lamp) blinks. Also, audible notification may be performed from a buzzer, a voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process (the 'Fifth Process') of stopping the combine 1 and interrupting the automatic harvesting travel of the combine 1 in response to the reception accuracy of the satellite positioning module 80 becoming worse than a preset threshold value after the start of the automatic harvesting travel.

[0093] After the automatic harvesting travel is interrupted based on meeting [[Condition 11]] (shown as 'B' in FIGS. 7 and 8), in order to resume the automatic harvesting travel, it is necessary to satisfy [[Condition 12]]. That is, as shown in FIG. 8, it is determined whether the reception accuracy of the satellite positioning module 80 has recovered to be equal to or higher than the threshold value ([[Condition 12]], Step #14), and the determination in Step #14 is repeated until a Yes determination is made in Step #14, and the combine 1 remains in a standby state while stopped.

[0094] When a Yes determination is made in Step #14, the mode of the control device 20 shifts from the temporary interruption mode to the automatic harvesting travel mode (Step #15), and the automatic harvesting travel is resumed (Step #16). That is, the control device 20 is configured to execute a process (the 'Sixth Process') of resuming the automatic harvesting travel of the combine 1 in response to the reception accuracy of the satellite positioning module 80 becoming better than a preset threshold value after the interruption process of the automatic harvesting travel. With this configuration, the control device 20 can automatically resume the automatic harvesting travel in response to the recovery of the reception accuracy without the operator operating the remote control device 40.

[0095] Even if the automatic harvesting travel is interrupted due to a decrease in reception accuracy during the turning path (the path that turns midway between the two traveling paths LI), the automatic harvesting travel resumes along the turning path. As a result, the mode of the control device 20 is set to the unmanned harvesting travel mode, and even when the unmanned harvesting travel is interrupted, it is not necessary for an operator or the like to manually move the combine 1 onto the traveling path LI, and the unmanned harvesting travel resumes smoothly.

[0096] [Temporary interruption process of automatic harvesting travel due to grain discharge process] As shown in FIG. 4, in the present embodiment, a discharge mode is provided as a mode of the control device 20. The discharge mode is a mode for the combine 1 to interrupt the automatic harvesting travel and move to a discharge position where the grain can be discharged when the grain tank 14 is full of grain.

[0097] [Condition 21] for the mode of the control device 20 to shift from the automatic harvesting travel mode to the discharge mode includes that the storage amount of the grain stored in the grain tank 14 becomes more than a preset threshold value.

[0098] The process executed based on meeting [Condition 21] will be described with reference to FIG. 9. When the storage amount of the grain tank 14 exceeds the threshold value, the mode of the control device 20 shifts from the automatic harvesting travel mode to the discharge mode (step #21). At this time, the harvesting unit H and the threshing device 13 stop, and the combine 1 moves to the discharge position (step #22). The discharge position is set, for example, at the edge of the field 5. At this time, the path generation unit 23 generates a path extending between the current position coordinates calculated by the position calculation unit 21 and the discharge position. Then, the travel control unit 24B controls the travel device 11 to travel along the path until the combine 1 reaches the discharge position (step #23: No).

[0099] That is, the traveling control unit 24B of the control device 20 controls the traveling device 11 so as to interrupt the automatic harvesting travel of the combine 1 in response to the harvested amount exceeding a preset threshold value after the start of the automatic harvesting travel, travel to a discharge position where the crop can be discharged from the grain tank 14, and stop at the discharge position, and executes a discharge travel process (the "seventh process").

[0100] In the present embodiment, as shown in step #31, when the combine 1 reaches the discharge position (step #23: Yes), the yield measurement unit 30 measures the mass of the grains stored in the grain tank 14 with the combine 1 stopped. The yield acquisition unit 25 executes a measurement process of acquiring the mass of the grains stored in the grain tank 14.

[0101] The mass of the grains is measured by the yield measurement unit 30. However, since the yield measurement unit 30 is disposed below the grain tank 14, an error tends to occur in the measurement result of the yield measurement unit 30 due to factors such as the inclination of the body 19 of the combine 1 and the change in the center of gravity position. Therefore, it is insufficient to simply execute the measurement process by the yield measurement unit 30 with the combine 1 stopped.

[0102] In the present embodiment, the processes of steps #24 to #30 are executed to keep the inclination of the body 19 of the combine 1 and the center of gravity position as constant as possible when the yield measurement unit 30 executes the measurement process.

[0103] Specifically, drive control of the body attitude change mechanism 11A as shown in step #25 and drive control of the grain discharge device 18 as shown in step #28 are executed. These drive controls are executed when the obstacle sensor group 2 does not detect an object (steps #24, #27).

[0104] The control device 20 is configured to execute a body attitude control process for controlling the body attitude changing mechanism 11A so that the body 19 assumes a predetermined attitude. In the present embodiment, the measured attitude means an attitude in which the height position of the body 19 with respect to each of the left and right crawler mechanisms of the traveling device 11 becomes equal to or less than a preset threshold value, and the inclination of the body 19 becomes equal to or less than a preset angle and approaches horizontal. It is preferable that the measured attitude is a horizontal attitude (a state in which the body 19 is horizontal). The body attitude control process may be a process of changing the body attitude changing mechanism 11A to a predetermined state (for example, a state in which the body 19 has descended the most). The body attitude control process for the body attitude changing mechanism 11A is executed in the processes of step #24 to step #26.

[0105] In step #24, it is determined whether or not the obstacle sensor group 2 has detected an object. If a No determination is made in step #24, the determination in step #24 is repeated. The travel control unit 24B of the control device 20 is configured to start the body attitude control process when the obstacle sensor group 2 has not detected an object.

[0106] If a Yes determination is made in step #24, the travel control unit 24B drives and controls the body attitude changing mechanism 11A while the attitude of the body 19 has not become the measured attitude (step #26: No) (step #25).

[0107] If the obstacle sensor group 2 detects an object during the body attitude control process (step #24: No), the body attitude control process is interrupted and the body attitude changing mechanism 11A stops. Then, when the obstacle sensor group 2 no longer detects an object (step #24: Yes), the body attitude control process is resumed and the body attitude changing mechanism 11A is driven again (step #25, step #26).

[0108] When the attitude of the machine body 19 becomes the measurement attitude (step #26: Yes), the work control unit 24C of the control device 20 is configured to execute a position control process for controlling the grain discharge device 18 so that the grain discharge device 18 is at a predetermined measurement position. In the present embodiment, the measurement position means that the horizontal cylinder portion of the horizontal feed screw in the grain discharge device 18 is housed so that a weight is firmly applied to the holding cradle 18A. If the horizontal cylinder portion is securely received in the holding cradle 18A, the center of gravity position of the machine body 19 is stabilized, and the measurement result of the yield measurement unit 30 is likely to be accurate. The measurement position may be another predetermined position. If the measurement is performed at the same position, the reproducibility of the measurement result is easily ensured. The position control process for the grain discharge device 18 is executed in the processes of step #27 to step #29.

[0109] In step #27, it is determined whether or not the obstacle sensor group 2 has detected an object. If the determination in step #27 is No, the determination in step #27 is repeated. The work control unit 24C of the control device 20 is configured to start the position control process when the obstacle sensor group 2 has not detected an object.

[0110] If the determination in step #27 is Yes, the work control unit 24C drives and controls the grain discharge device 18 (step #28) while the horizontal cylinder portion of the grain discharge device 18 is not at the measurement position (step #29: No).

[0111] If the obstacle sensor group 2 detects an object during the position control process (step #27: No), the position control process is interrupted and the grain discharge device 18 stops. Then, when the obstacle sensor group 2 no longer detects an object (step #27: Yes), the position control process is resumed and the grain discharge device 18 is driven again (step #28, step #29).

[0112] In this way, the yield acquisition unit 25 is configured to execute the measurement process after the completion of the machine body attitude control process and after the completion of the position control process.

[0113] When the horizontal cylinder portion of the grain discharging device 18 is in the measurement position (step #29: Yes), before the yield acquisition unit 25 executes the measurement process, it is determined in step #30 whether or not the obstacle sensor group 2 has detected an object. If the determination in step #30 is No, the determination in step #30 is repeated. That is, the yield acquisition unit 25 is configured to execute the measurement process when the obstacle sensor group 2 has not detected an object, and is configured not to execute the measurement process when the obstacle sensor group 2 has detected an object. As a result, for example, the possibility that the combine 1 vibrates or the center of gravity position of the combine 1 shifts due to an operator or the like working around the operation unit 12 of the combine 1 inadvertently is avoided. As a result, the possibility that the measurement accuracy of the yield measurement unit 30 decreases is avoided.

[0114] Information regarding the mass of the harvested product acquired by the yield acquisition unit 25 is, for example, displayed on the display operation terminal 4, displayed on a terminal (not shown, such as a smartphone or a tablet computer) carried by an operator or the like, or transmitted to a management computer (not shown) via a wireless communication network.

[0115] If the determination in step #30 is Yes, the yield acquisition unit 25 acquires the measurement result of the yield measurement unit 30, that is, the mass of the grains (step #31). In this way, the yield acquisition unit 25 is configured to be able to execute a measurement process for measuring the mass of the grains stored in the grain tank 14 by the yield measurement unit 30 in a state where the machine body 19 has stopped after the completion of the discharge traveling process by the traveling control unit 24B. In the present embodiment, the processes from the interruption of the automatic harvesting travel (step #21) to the measurement process of the mass of the harvested product (step #31) are automatically executed without requiring an operation from the operator.

[0116] After the discharge traveling process based on the fulfillment of [Condition 11] and the measurement process by the yield acquisition unit 25 are completed (shown as "C" in FIGS. 9 and 10), [Condition 22] for restarting the automatic harvesting travel includes the following matters. [Condition 22-1] The discharge of the grains from the grain tank 14 to the outside of the machine is completed. [Condition 22-2] The operating tool 41 of the remote operation device 40 was operated.

[0117] As shown in FIG. 10, before the grain is discharged by the work control unit 24C, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated (step #32). If the determination in step #32 is No, the determination in step #32 is repeated. At this time, the work control unit 24C is in a state of waiting for the operator's operation.

[0118] When the operating tool 41 of the remote operation device 40 is operated (step #32: Yes), the work control unit 24C controls the grain discharge device 18 to discharge the grain in response to the remote operation device 40 receiving the operator's operation after the measurement process by the yield acquisition unit 25 is completed (step #33). The work control unit 24C continues to control the grain discharge device 18 while the grain discharge is not completed (step #34: No).

[0119] When the grain discharge is completed (step #34: Yes), [Condition 22-2] is satisfied. Then, before the resumption of the automatic harvesting travel, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated (step #35). If the determination in step #35 is No, the determination in step #35 is repeated. At this time, the travel control unit 24B is in a state of waiting for the operator's operation.

[0120] When the operating tool 41 of the remote operation device 40 is operated (step #35: Yes), [Condition 22-2] is satisfied. Then, the automatic harvesting travel is resumed (step #36). At this time, the grain discharge device 18 is stored in the storage position. That is, the travel control unit 24B is configured to resume the automatic harvesting travel control in response to the remote operation device 40 receiving the operator's operation after the measurement process is completed and after the grain discharge is completed. In other words, the control device 20 is configured to be able to execute a process (the 'eighth process') of resuming the automatic harvesting travel of the combine 1 in response to the operator operating the remote operation device 40 after the grain is discharged from the grain tank 14.

[0121] 〔Alternative Embodiment〕 The present invention is not limited to the configuration exemplified in the above-described embodiment, and representative alternative embodiments of the present invention will be exemplified below.

[0122] (1) The operating tool 41 may be composed of three or more buttons. The control device 20 may be configured to execute a process of restarting the automatic harvesting travel of the combine 1 in response to the operator operating a plurality of operating tools 41 simultaneously.

[0123] (2) In the above-described embodiment, the obstacle sensor group 2 senses four different directions respectively to detect the presence or absence of an object around the body 19 of the combine 1. The present invention is not limited to this embodiment. For example, the obstacle sensor group 2 may be configured to sense the front and rear two directions. The camera 2B was treated as a monocular camera, but it may be a stereo camera. Further, the obstacle sensor group 2 may be provided with LiDAR, sonar, or the like.

[0124] (3) In the above-described embodiment, the control device 20 is provided in the combine 1. The present invention is not limited to this embodiment. Among the control device 20, a configuration in which each element other than the drive control unit 24 is provided in a management computer or the like separate from the combine 1 may be adopted. In this case, the control device 20, the satellite positioning module 80, the obstacle sensor group 2, and the yield measurement unit 30 may be configured to be able to communicate with each other via a wireless communication network. Such a configuration is also included in the travel management system A. Further, a plurality of combines 1 may be provided, and a configuration in which the plurality of combines 1 perform unmanned harvesting travel simultaneously in the field 5 while communicating with each other via a wireless communication network may be adopted. In this case, among the control device 20, a configuration in which each element other than the drive control unit 24 is provided only in one combine 1 may be adopted.

[0125] (4) In the above-described embodiment, the control device 20 is configured to execute a process of restarting the automatic harvesting travel of the combine 1 in response to the operator simultaneously operating a plurality of operating tools 41 and continuously operating the plurality of operating tools 41 for one second or more. Without being limited to this embodiment, the control device 20 may be configured to execute a process of restarting the automatic harvesting travel of the combine 1 in response to the operator continuously operating one operating tool 41 for one second or more. Further, the control device 20 may be configured to execute a process of restarting the automatic harvesting travel of the combine 1 only when the operator simultaneously operates a plurality of operating tools 41.

[0126] (5) The remote operation device 40 may be a smartphone or a tablet computer. In this case, the operating tool 41 and the end button 42 may be buttons displayed on a touch panel monitor.

[0127] (6) The harvesting machine may be various harvesting machines such as a conventional combine, a self-threshing combine, a corn harvester, a sugarcane harvester, a soybean harvester, and a root vegetable harvester.

[0128] (7) In the above-described embodiment, the notification unit 26 controls the indicator lamp 3 to notify the detection of an object. Without being limited to this embodiment, the notification unit 26 may be configured to transmit information regarding the detection of an object to the remote operation device 40 or another portable terminal possessed by the operator via a wireless communication network. And the remote operation device 40 or another portable terminal (smartphone or tablet computer) possessed by the operator may be configured to notify the detection of an object.

[0129] (8) A configuration in which the above-described body attitude control process is not performed may be adopted. Also, a configuration in which the above-described position control process is not performed may be adopted.

[0130] In addition, the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. Also, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope not departing from the object of the present invention.

Industrial Applicability

[0131] The present invention is applicable to a travel management system for a harvesting machine capable of harvesting crops while traveling in a field unmanned.

Explanation of Signs

[0132] 2: Obstacle sensor group (object detection unit) 5: Field 20: Control device (travel control device) 25: Yield acquisition unit (harvest amount detection unit) 26: Notification unit 30: Yield measurement unit (harvest amount detection unit) 40: Remote operation device 41: Operating tool 80: Satellite positioning module (reception device) A: Travel management system GS: Navigation satellite

Claims

1. A travel management system for a harvester capable of harvesting crops while traveling in a field unmanned, comprising: A remote control device that receives an operator's operation for monitoring the harvester from outside the harvester; An object detection unit that detects the presence or absence of an object around the harvester; A notification unit that notifies the detection status of the object detection unit; A travel control device that causes the harvester to perform an unmanned harvesting travel for automatically traveling to harvest the crops unmanned, The travel control device is configured to: Execute a first process of causing the harvester to perform the unmanned harvesting travel in response to the operator operating the remote control device; After the start of execution of the first process, in response to the object detection unit detecting the object, stop the harvester, interrupt the unmanned harvesting travel of the harvester, and execute a second process of causing the notification unit to notify the detection of the object; After the start of execution of the second process, in response to the object detection unit no longer detecting the object, execute a third process of causing the notification unit to notify the non-detection of the object; A travel management system configured to be able to execute a fourth process of restarting the unmanned harvesting travel of the harvester in response to the object detection unit no longer detecting the object and the operator operating the remote control device after the start of execution of the second process.

2. The travel management system according to claim 1, wherein the travel control device is configured to be unable to execute the fourth process when the object detection unit is detecting the object.

3. The remote control device is provided with a plurality of operating tools operated by the operator, The travel management system according to claim 1, wherein the travel control device is configured to execute the fourth process in response to the object detection unit no longer detecting the object and the operator operating the plurality of operating tools simultaneously.

4. The remote control device is provided with an operating tool operated by the operator, The travel management system according to claim 1, wherein the travel control device is configured to execute the fourth process in response to the object detection unit no longer detecting the object and the operator continuously operating the operating tool for a preset time or longer.

5. The harvester is provided with a receiving device that receives a signal from a navigation satellite, The travel control device is configured to: configured to execute a fifth process of stopping the harvester and interrupting the unmanned harvesting travel of the harvester in response to the reception accuracy of the receiving device deteriorating below a preset threshold after the start of execution of the first process; The travel management system according to any one of claims 1 to 4, configured to execute a sixth process of restarting the unmanned harvesting travel of the harvester in response to the reception accuracy improving to be equal to or better than a preset threshold after the start of execution of the fifth process. **Claim 6** The harvester is provided with a harvest amount detection unit that detects the harvest amount of the crop. The travel control device configured to execute a seventh process of interrupting the unmanned harvesting travel of the harvester and driving the harvester to a discharge position where the crop can be discharged in response to the harvest amount becoming greater than a preset threshold after the start of execution of the first process; The travel management system according to any one of claims 1 to 4, configured to be capable of executing an eighth process of restarting the unmanned harvesting travel of the harvester in response to the operator operating the remote control device after the crop has been discharged from the harvester.

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