Traveling management system

Abstract

To provide a traveling management system capable of calculating an appropriate unworked region that matches a field condition.SOLUTION: A traveling management system for a harvester harvesting crops while traveling on a field includes: a field mode setting part for selectively setting a field mode; and an unworked region calculation part for calculating an unworked region on the basis of a travel trajectory of round travel that a harvester travels around in an outer periphery region of the field while harvesting crops in travel that accompanies manual operation. The unworked region calculation part calculates an unworked region on the basis of a travel trajectory of the round travel in accordance with the round travel performed one round or more when the field mode is set to a first field mode, and calculates an unworked region on the basis of the travel trajectory of the round travel in accordance with the round travel performed N rounds or more when the field mode is set to a second field mode.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] For example, in the travel management system (referred to as the "route generation system" in the literature) disclosed in Patent Document 1, an unworked area (referred to as the "work target area" in the literature) is calculated based on the travel trajectory of a circular travel in which a harvesting machine circles the outer peripheral area of the field while harvesting crops during travel involving manual operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the calculated unworked area is used for the harvesting machine to harvest crops while automatically traveling in the field. However, depending on the state of the field, the calculated unworked area may not be suitable for automatic travel, and there is a possibility that the harvesting machine may not be able to harvest crops appropriately.

[0005] An object of the present invention is to provide a travel management system capable of calculating an appropriate unworked area that matches the state of the field.

Means for Solving the Problems

[0006] The present invention relates to a travel management system for a harvester that harvests crops while traveling in a field, the system comprising: a field mode setting unit that selectively sets a field mode including a first field mode and a second field mode; and an unworked area calculation unit that calculates an unworked area based on a travel trajectory of a circular travel in which the harvester travels around an outer peripheral area of the field while harvesting the crops during travel involving manual operation. The unworked area calculation unit calculates the unworked area based on the travel trajectory of the circular travel in response to the circular travel being performed one or more times when the field mode is set to the first field mode, and calculates the unworked area based on the travel trajectory of the circular travel in response to the circular travel being performed N or more times (N is a number of 2 or more determined in advance) when the field mode is set to the second field mode.

[0007] According to the present invention, the unworked area calculation unit is configured to calculate the unworked area based on the travel trajectories of circular travels with different numbers of revolutions according to the set field mode. For example, in the case of a field without ridges, if a circular travel of one or more revolutions is performed, subsequent automatic travel can be appropriately executed. However, in the case of a field with ridges, since automatic travel preferably follows a European-style travel along the ridges, it is preferable that at least two or more circular travels are performed. By varying the number of revolutions of the circular travel, it becomes possible to match the unworked area to the state of the field. As a result, a travel management system capable of calculating an appropriate unworked area that matches the state of the field is realized.

[0008] In the present invention, it is preferable that a field mode selection reception unit that receives an artificial selection operation for setting the field mode to either the first field mode or the second field mode is provided.

[0009] With this configuration, an operator or the like can select an appropriate field mode after checking the state of the field (presence or absence of ridges, type of crop, etc.).

[0010] In the present invention, it is preferable that a field state acquisition unit for acquiring the state of the field is provided, and the field mode setting unit is configured to selectively set the field mode to the first field mode and the second field mode according to the acquisition result of the field state acquisition unit.

[0011] According to this configuration, the field state acquisition unit acquires the state of the field. For example, the field state acquisition unit acquires the state of the field from a management computer or a higher-level farming system. Therefore, a configuration in which the field mode is automatically selected becomes possible.

[0012] In the present invention, it is preferable that a travel route generation unit for generating a target travel route for causing the harvester to perform a work travel for harvesting the crop in the unworked area by automatic travel is provided, and the travel route generation unit generates the target travel route that allows the work travel that circulates along the outer peripheral edge of the unworked area when the field mode is set to the first field mode, and generates the target travel route that does not allow the work travel that circulates along the outer peripheral edge of the unworked area when the field mode is set to the second field mode.

[0013] This configuration enables the generation of a target travel route according to the state of the field.

[0014] In the present invention, an automatic travel control unit for controlling the automatic travel of the harvester to harvest the crop in the unworked area, a boarding detection unit for detecting a passenger boarding on the boarding section of the harvester, a driverless automatic travel mode for allowing the automatic travel by the automatic travel control unit when the passenger is not detected on the boarding section, and a manned automatic travel mode for not allowing the automatic travel by the automatic travel control unit when the passenger is not detected on the boarding section, and a travel mode setting unit for selectively setting the automatic travel mode including these, and the travel mode setting unit is preferably configured to set the automatic travel mode to the manned automatic travel mode if the automatic travel mode is the driverless automatic travel mode in response to the field mode being set to the second field mode.

[0015] With this configuration, if the field mode is the second field mode, the automatic driving mode is automatically changed to the manned automatic driving mode. As a result, in a situation where monitoring by a passenger is required, automatic driving can be reliably performed with a passenger on board in the passenger compartment for monitoring.

[0016] In the present invention, an object detection unit that detects the presence or absence of an object around the harvester, an object detection active mode that interrupts the automatic driving by the automatic driving control unit in response to the detection of the object by the object detection unit, and an object detection invalid mode that allows the automatic driving by the automatic driving control unit regardless of the detection of the object by the object detection unit, an object detection mode setting unit that selectively sets an object detection mode including these, and in response to the running mode setting unit being switched to an automatic driving mode other than the manned automatic driving mode, an object detection mode storage unit that stores the object detection mode before the running mode setting unit is switched to the automatic driving mode other than the manned automatic driving mode are provided, and it is preferable that the object detection mode setting unit is configured to set the object detection mode to the object detection mode stored in the object detection mode storage unit in response to the automatic driving mode being reset to the manned automatic driving mode.

[0017] When automatic driving is performed based on the unmanned automatic driving mode, detection of an object by the object detection unit is essential. On the other hand, when automatic driving is performed based on the manned automatic driving mode, since the passenger monitors the surroundings, detection of an object by the object detection unit is not necessarily essential. Therefore, with this configuration, when the automatic driving mode is once switched from the manned automatic driving mode to the unmanned automatic driving mode and then switched back from the unmanned automatic driving mode to the manned automatic driving mode again, the object detection mode returns to the original mode. As a result, the operator or the like does not feel the trouble of re-changing the object detection mode along with the change of the automatic driving mode.

[0018] In the present invention, an automatic travel control unit that controls automatic travel of the harvester to harvest the crops in the unworked area, a boarding detection unit that detects a passenger boarding the boarding section of the harvester, and a boarding section are provided. An unmanned automatic travel mode that allows the automatic travel by the automatic travel control unit when no passenger is detected in the vehicle, and a manned automatic travel mode that does not allow the automatic travel by the automatic travel control unit when no passenger is detected in the boarding section. A travel mode setting unit that selectively sets an automatic travel mode including the above, and the travel mode setting unit is configured to be able to set the automatic travel mode to the unmanned automatic travel mode when the field mode is set to the first field mode, and the automatic travel mode is set to the second field mode. It is preferable that it is configured so that the unmanned automatic travel mode cannot be set when the vehicle is set.

[0019] With this configuration, in a situation where monitoring of the passenger is required, automatic travel in a state where a passenger boards and monitors the boarding section is surely performed.

Brief Description of Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0021] Embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow “F” in the drawings is defined as “front”, the direction of arrow “B” is defined as “rear”. Also, the direction of arrow “U” in the drawings is defined as “up”, and the direction of arrow “D” is defined as “down”. Further, “left” and “right” are defined based on the longitudinal line of the harvester moving forward.

[0022] 〔Overall Configuration of Combine〕 As shown in FIG. 1, a conventional combine 1, which is an example of a harvester, includes a harvesting unit H, a crawler-type traveling device 11, a cab 12, a threshing device 13, a grain tank 14, a conveying unit 16, a grain discharging device 18, and a satellite positioning module 80.

[0023] 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.

[0024] The traveling device 11 is provided with an airframe attitude changing mechanism 11A. The airframe attitude changing mechanism 11A, also commonly called the "Monroe", is configured to be able to separately change the height position of the airframe 19 with respect to each of the left and right crawler mechanisms. That is, the traveling device 11 has an airframe attitude changing mechanism 11A for changing the attitude of the airframe 19 with respect to the ground.

[0025] Also, the cab 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The cab 12 has a driver's seat 12a. An operator (including a user, a passenger, a worker, a monitor, a manager, etc., the same hereinafter) can board the cab 12. The satellite positioning module 80 is attached to the upper surface of the cab 12.

[0026] 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 the left and right weed dividers 10, the cutting blade 15, and the reel 17. The harvesting unit H, together with the conveying unit 16, can be lifted and lowered by a lifting mechanism (not shown).

[0027] The left and right weed dividers 10 are provided at the left end and the right end at the front end of the harvesting unit H. The left and right weed dividers 10 divide the standing grain straws in the field 5 (see FIGS. 6 to 10) into harvested and non-harvested ones. The standing grain straws on the right side of the left weed divider 10 and on the left side of the right weed divider 10 are divided as harvested objects. The standing grain straws on the left side of the left weed divider 10 and on the right side of the right weed divider 10 are divided as non-targets.

[0028] The cutting blade 15 cuts the standing grain straws divided as harvested objects by the left and right weed dividers 10. Also, the reel 17 scrapes in the standing grain straws to be harvested while rotating around the reel axis 17b along the left-right direction of the airframe. The cut grain straws cut by the cutting blade 15 are sent to the conveying unit 16.

[0029] With this configuration, the harvesting unit H harvests the grains in the field 5 that the combine 1 is to travel on. Then, 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.

[0030] The cut grain straws harvested by the harvesting unit H are conveyed rearward of the machine body by the conveying unit 16. As a result, the cut grain straws are conveyed to the threshing device 13.

[0031] In the threshing device 13, the cut grain 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 discharge device 18 as necessary. The horizontal tube portion of the grain discharge device 18 is provided above the threshing device 13 and the grain tank 14.

[0032] Also, as shown in FIG. 1, a display operation terminal 4 is arranged on the boarding part 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 boarding part 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 boarding part 12, or the display operation terminal 4 may be located outside the combine 1.

[0033] The obstacle sensor group 2 senses different directions and detects the presence or absence of an object around the machine 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 photographed images. The obstacle sensor group 2 corresponds to the 'object detection unit'.

[0034] The millimeter-wave radar 2A is attached at two locations, namely, the front end of the cabin that constitutes the passenger compartment 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.

[0035] The camera 2B is attached at four locations, namely, the front end of the cabin that constitutes the passenger compartment 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. Therefore, these cameras 2B image the entire body 19. The captured images of the camera 2B are used as input images 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.

[0036] When the harvesting unit H as a working device is raised, the harvesting unit H may enter the sensing ranges 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.

[0037] When the combine 1 performs a harvesting operation in the field 5, as shown in the travel trajectory TR in FIG. 6, after performing an outer peripheral travel by manual driving, it is configured to perform a harvesting travel by automatic driving or manual driving. Note that the outer peripheral travel is a harvesting travel performed in the outer peripheral area of the field 5 by manual driving. Note that the combine 1 can also perform a harvesting travel by manual driving in all areas within the field.

[0038] In this embodiment, the term "manual driving" means "driving with human operation", including driving where all operations (such as setting the driving speed and steering) are performed manually and driving where some operations (such as steering) are performed automatically. For example, "manual driving" includes driving straight ahead in a direction (azimuth) that is automatically steered and set (automatic steering driving).

[0039] In FIG. 6, the path along which the combine 1 travels during peripheral driving by manual driving is indicated by a driving trajectory TR. Although details will be described later, after the harvesting drive along this path is completed, the harvesting drive inside the field 5 is performed. The peripheral driving in this embodiment is, as shown in FIG. 6, a harvesting drive that goes around the outermost periphery of the field 5.

[0040] 〔Explanation of the electronic control system〕 As shown in FIG. 2, the driving of the combine 1 is controlled by a driving management system A. That is, the driving management system A controls the driving of the combine 1 that is capable of automatic driving. Note that the combine 1 can perform automatic driving in a state where no operator is on board the cab 12. That is, the combine 1 is configured to be able to harvest crops while automatically driving through the field 5 in a unmanned state where no operator is on board the cab 12. The combine 1 automatically driving through the field 5 in a unmanned state while harvesting crops is referred to as "unmanned automatic harvesting drive".

[0041] In addition, the combine 1 is configured to be able to harvest crops while automatically driving through the field 5 in a manned state where an operator is on board the cab 12. The combine 1 harvesting crops while automatically driving through the field 5 in a manned state where an operator is on board the cab 12 is referred to as "manned automatic harvesting drive". Also, unmanned automatic harvesting drive and manned automatic harvesting drive are collectively referred to as "automatic harvesting drive".

[0042] As shown in FIG. 2, the travel management system A includes a control device 20. The control device 20 includes a position calculation unit 21, an area calculation unit 22, a route generation unit 23, a drive control unit 24, a field mode setting unit 25, a field state acquisition unit 26, a travel mode setting unit 27, an object detection mode setting unit 28, and a storage unit 29. Note that the control device 20 is mounted on the combine 1. Further, the obstacle sensor group 2, the boarding detection unit 30, the field mode selection reception unit 31, the travel mode selection reception unit 32, the object detection mode selection reception unit 33, the travel route pattern selection reception unit 34, and the satellite positioning module 80 are included in the travel management system A. The route generation unit 23 corresponds to the "travel route generation unit". The area calculation unit 22 corresponds to the "unworked area calculation unit". The storage unit 29 corresponds to the "object detection mode storage unit".

[0043] Each of the field mode selection reception unit 31, the travel mode selection reception unit 32, the object detection mode selection reception unit 33, and the travel route pattern selection reception unit 34 is, for example, an input button on a setting screen displayed on the touch panel monitor of the display operation terminal 4. Note that each of the field mode selection reception unit 31, the travel mode selection reception unit 32, the object detection mode selection reception unit 33, and the travel route pattern selection reception unit 34 may be, for example, an input button on a setting screen displayed on the touch panel monitor of a smartphone or a tablet computer, and may be configured to receive a manual operation on the input button or the like.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Based on the position coordinates received from the position calculation unit 21, the area calculation unit 22 calculates the field outer shape EA and the unworked area WA as shown in FIG. 6. More specifically, the area calculation unit 22 calculates the travel trajectory TR (see FIG. 6) of the combine 1 based on the outer circumference travel by the above-described manual travel based on the position coordinates received from the position calculation unit 21. Then, based on the calculated travel trajectory TR, the area calculation unit 22 calculates the movement trajectories of the dividing tools 10 located outside the field among the left and right dividing tools 10, and the movement trajectories of the dividing tools 10 located inside the field.

[0048] Furthermore, the area calculation unit 22 calculates the field outer shape EA based on the movement trajectory of the dividing tool 10 located outside the field. In FIG. 6, the calculated field outer shape EA coincides with the actual outer shape line of the field 5, but the present invention is not limited thereto. The calculated field outer shape EA may not coincide with the actual outer shape line of the field 5. For example, the field outer shape EA may be located inside the field rather than the actual outer shape line of the field 5. The same applies to FIGS. 7 to 10 described later.

[0049] Also, the area calculation unit 22 calculates the unworked area WA based on the movement trajectory of the dividing tool 10 located inside the field. The unworked area WA is an area obtained by approximating the area inside the movement trajectory of the dividing tool 10 located inside the field in the outer circumference travel (in other words, the area surrounded by the movement trajectory) to a rectangle (rectangular shape). That is, the area calculation unit 22 calculates the unworked area WA based on the travel trajectory TR of the circular travel in which the combine 1 circulates around the outer peripheral area of the field 5 while harvesting crops by traveling with manual operation. The map (field outer shape EA and unworked area WA) generated by the area calculation unit 22 is sent to the route generation unit 23.

[0050] Based on the map received from the area calculation unit 22, the route generation unit 23 generates a plurality of target travel routes LI as shown in FIG. 6. The target travel route LI is a route for the combine 1 to perform a work travel (automatic harvesting travel) of harvesting the crops in the unworked area WA during automatic travel. Note that the target travel route LI does not have to be a straight line and may be curved. The plurality of target travel routes LI generated by the route generation unit 23 are sent to the travel control unit 24A of the drive control unit 24.

[0051] 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 travel control unit 24A and a work control unit 24B. Also, the drive control unit 24 is configured to be able to execute the above-described automatic steering travel.

[0052] The field mode setting unit 25 sets the field mode. In the present embodiment, a first field mode and a second field mode are set as the field modes. The first field mode is set, for example, when harvesting rice, wheat, barley, etc. The second field mode is set, for example, when harvesting soybeans, adzuki beans, buckwheat, etc. The field mode setting unit 25 selectively sets a field mode including the first field mode and the second field mode according to the state of the field 5.

[0053] The field mode setting unit 25 receives information about the field 5 (including the state of the field 5) from the field state acquisition unit 26 and sets the field mode. The field state acquisition unit 26 can acquire information about the field 5 (including the state of the field 5) by receiving an artificial selection operation from the field mode selection reception unit 31. Also, the field state acquisition unit 26 can acquire information about the field 5 (including the state of the field 5) from a management computer (not shown) via, for example, a wireless communication network. From this, the field mode setting unit 25 is configured to selectively set the field mode to the first field mode and the second field mode according to the acquisition result of the field state acquisition unit 26.

[0054] For example, the field mode selection reception unit 31 receives an artificial selection operation as to whether the field to be worked on next (i.e., the field for which a map is to be created) is a paddy or wheat field or a soybean field. The field mode setting unit 25 sets the first field mode if the received selection operation is for a paddy or wheat field, and sets the second field mode if it is for a soybean field.

[0055] The traveling mode setting unit 27 sets the traveling mode of the control device 20. The traveling mode of the control device 20 includes a manual traveling mode, an unmanned automatic traveling mode, and a manned automatic traveling mode. Note that the name "automatic traveling mode" is used as a name that includes both the unmanned automatic traveling mode and the manned automatic traveling mode.

[0056] The boarding detection unit 30 is at least one of, for example, a seating sensor or a seat belt wearing sensor in the driver's seat 12a, and detects an operator or the like (a passenger) boarding the boarding section 12 of the combine 1. Further, the boarding detection unit 30 may be, for example, a human presence sensor or an AI camera disposed inside the boarding section 12.

[0057] The unmanned automatic traveling mode is a mode that allows automatic driving by the drive control unit 24 in a state where no operator or the like (a passenger) is detected by the boarding detection unit 30 in the boarding section 12. In the unmanned automatic traveling mode, the combine 1 automatically harvests crops while traveling in an unmanned state where no operator boards the boarding section 12. The unmanned automatic harvesting travel of the combine 1 is manifested in the unmanned automatic traveling mode.

[0058] The manned automatic traveling mode is a mode that does not allow automatic driving by the automatic driving control unit in a state where no operator or the like (a passenger) is detected by the boarding detection unit 30 in the boarding section 12. In the manned automatic traveling mode, the combine 1 automatically harvests crops while traveling in a state where an operator boards the boarding section 12. In other words, the manned automatic harvesting travel of the combine 1 is manifested in the manned automatic traveling mode.

[0059] Then, the travel mode setting unit 27 selectively sets a travel mode including a manual travel mode, a manned automatic travel mode, and an unmanned automatic travel mode by receiving a manual operation from the travel mode selection reception unit 32.

[0060] The object detection mode setting unit 28 selectively sets an object detection mode related to the detection of an object by the obstacle sensor group 2. The object detection mode includes an object detection effective mode and an object detection ineffective mode. The object detection effective mode is a mode in which the automatic travel by the drive control unit 24 is interrupted according to the detection of an object by the obstacle sensor group 2. The object detection ineffective mode is a mode in which the automatic travel by the drive control unit 24 is permitted regardless of the detection of an object by the obstacle sensor group 2. The object detection mode setting unit 28 selectively sets an object detection mode including the object detection effective mode and the object detection ineffective mode by receiving a manual operation from the object detection mode selection reception unit 33.

[0061] When the travel mode is set to the manned automatic travel mode, the object detection mode setting unit 28 can set the object detection effective mode to each of the object detection effective mode and the object detection ineffective mode. When the travel mode is set to the manned automatic travel mode and the object detection effective mode is set to the object detection ineffective mode, an operator can sit on the driver's seat 12a, and automatic harvesting travel can be performed while the operator monitors the surroundings. Thereby, when it is not necessary to use the obstacle sensor group 2, the operator etc. can omit the daily inspection of the obstacle sensor group 2. Further, even when a failure occurs in at least one of the sensors of the obstacle sensor group 2, automatic harvesting travel with manned monitoring becomes possible.

[0062] When the travel mode is set to the unmanned automatic travel mode, the object detection mode setting unit 28 sets the object detection effective mode to the object detection effective mode. At this time, the object detection mode setting unit 28 prohibits setting the object detection effective mode to the object detection ineffective mode.

[0063] Although details will be described later, the storage unit 29 stores the object detection mode before the switch when the driving mode is switched to an automatic driving mode other than the manned automatic driving mode, that is, the unmanned automatic driving mode.

[0064] When the driving mode of the control device 20 is selected as the manual driving mode, based on the operation by the operator boarding the boarding section 12, the travel control unit 24A and the work control unit 24B output the steering amount, shift command, etc., and control the traveling device 11 and the work device group. Thereby, manual driving is realized. Note that the target travel route LI generated by the route generation unit 23 can be used for guidance purposes so that the combine 1 travels along the target travel route LI even during manual driving. Further, when the driving mode of the control device 20 is selected as the manual driving mode, the detection of an object by the obstacle sensor group 2 becomes invalid, but it may be configured such that the detection of an object by the obstacle sensor group 2 can be selectively enabled and disabled.

[0065] When the driving mode of the control device 20 is selected as the manned automatic driving mode or the unmanned automatic driving mode, the travel control unit 24A is configured to control the automatic driving of the combine 1 by controlling the traveling device 11. The travel control unit 24A controls the automatic driving of the combine 1 based on the position coordinates of the combine 1 and the information indicating the target travel route LI selected by the travel control unit 24A. More specifically, the travel control unit 24A controls the traveling device 11 so that automatic harvesting travel along the target travel route LI is performed.

[0066] The travel control unit 24A selects the target travel route LI from among the target travel routes LI that have not yet been traveled. It is preferable that the drive control unit 24 selects the target travel route LI based on the position coordinates of the combine 1 received from the position calculation unit 21 so that the travel of the combine 1 becomes efficient.

[0067] When the traveling mode is set to the unmanned automatic traveling mode, the traveling control unit 24A is configured to execute unmanned automatic harvesting traveling control for automatically controlling the traveling device 11 to travel so as to harvest crops unmanned.

[0068] The work control unit 24B controls a group of work devices such as the harvesting unit H, the threshing device 13, and the grain discharging device 18.

[0069] 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 a functional unit in software.

[0070] 〔Object Detection Mode Switching Process Associated with Traveling Mode Switching〕 As described above, when the traveling mode is set to the unmanned automatic traveling mode, the object detection mode setting unit 28 prohibits setting the object detection effective mode to the object detection invalid mode. For this reason, as shown in FIG. 3, when the traveling mode is switched from the manned automatic traveling mode or the manual traveling mode to the unmanned automatic traveling mode, the object detection mode setting unit 28 sets the object detection mode to the object detection effective mode. At that time, the object detection mode setting unit 28 stores the object detection mode set before being switched to the unmanned automatic traveling mode in the storage unit 29.

[0071] Specifically, in response to the traveling mode setting unit 27 receiving a switching of the traveling mode to the unmanned automatic traveling mode from the traveling mode selection reception unit 32, the processes of step #01 to step #03 are executed.

[0072] In step #01, the object detection mode setting unit 28 stores the object detection mode set at the time when the traveling mode setting unit 27 receives the switching of the traveling mode in the storage unit 29.

[0073] After the object detection mode is stored in the storage unit 29, in step #02, the travel mode setting unit 27 sets the travel mode to the unmanned automatic travel mode based on the manual operation received by the travel mode selection reception unit 32. Then, in step #03, the object detection mode setting unit 28 sets the object detection mode to the object detection enabled mode. As a result, when the unmanned automatic harvesting travel of the combine 1 is performed, if an object is detected around the body 19 of the combine 1, the combine 1 will surely stop.

[0074] In this way, the storage unit 29 stores the object detection mode before the travel mode setting unit 27 is switched to an automatic travel mode other than the manned automatic travel mode in response to the travel mode setting unit 27 being switched to an automatic travel mode other than the manned automatic travel mode.

[0075] Based on FIG. 4, the restoration process of the object detection mode when the travel mode is switched from the unmanned automatic travel mode to the manned automatic travel mode or the manual travel mode will be described. In response to the travel mode setting unit 27 switching the travel mode from the unmanned automatic travel mode to the manned automatic travel mode or the manual travel mode received from the travel mode selection reception unit 32, the processes of step #11 and step #12 are executed.

[0076] In step #02, the travel mode setting unit 27 sets the travel mode to the manned automatic travel mode or the manual travel mode based on the manual operation received by the travel mode selection reception unit 32. Then, in step #12, the object detection mode setting unit 28 reads out the object detection mode stored in the storage unit 29. That is, when an operator or the like switches the travel mode from the unmanned automatic travel mode to the manned automatic travel mode or the manual travel mode, the object detection mode also returns to the object detection mode set before the unmanned automatic travel mode was set. As a result, when an operator or the like changes the travel mode to a mode other than the unmanned automatic travel mode, there is no need to manually restore the object detection mode.

[0077] In this way, the object detection mode setting unit 28 is configured to set the object detection mode to the object detection mode stored in the storage unit 29 in response to the automatic driving mode being reset to the manned automatic driving mode.

[0078] 〔Setting of Automatic Driving Mode and Target Driving Route〕 In the traveling management system A of the present embodiment, in the case of the first farm mode, as shown in FIGS. 6 to 8, after the outer peripheral traveling by manual driving is performed as shown by the traveling locus TR, automatic harvesting traveling can be performed along the target traveling route LI in the unworked area WA. At this time, the combine 1 can perform the circular traveling from the second round onward by automatic driving.

[0079] In the example shown in FIG. 6, a circular target traveling route LI1 for two rounds is set. After the combine 1 performs automatic harvesting traveling involving two rounds of circular traveling in the unworked area WA along the circular target traveling route LI1, it performs reciprocating automatic harvesting traveling along the reciprocating target traveling route LI2. A turning area for three rounds of the combine 1 is secured around the reciprocating target traveling route LI2. For this reason, when the combine 1 performs turning traveling at the edge of the farm field 5, it can perform U-turn turning traveling without performing backward turning traveling. The pattern of the target traveling route LI shown in FIG. 6 is referred to as the 'Reciprocating Traveling Pattern (Wide Turning Area)'.

[0080] In the example shown in FIG. 7, a circular target traveling route LI1 for one round is set. After the combine 1 performs automatic harvesting traveling involving one round of circular traveling in the unworked area WA along the circular target traveling route LI1, it performs reciprocating automatic harvesting traveling along the reciprocating target traveling route LI2. A turning area for two rounds of the combine 1 is secured around the reciprocating target traveling route LI2, which is a turning area narrower than the turning area for three rounds shown in FIG. 6. For this reason, when the combine 1 performs turning traveling at the edge of the farm field 5, there is a possibility that it may perform backward turning traveling. The pattern of the target traveling route LI shown in FIG. 7 is referred to as the 'Reciprocating Traveling Pattern (Narrow Turning Area)'.

[0081] In the example shown in FIG. 8, a spiral circumferential target travel route LI1 is set. In this case, the combine 1 performs automatic harvesting travel while traveling in a spiral shape in the unworked area WA. The pattern of the target travel route LI shown in FIG. 8 is referred to as the "spiral travel pattern".

[0082] The route generation unit 23 (FIG. 2) selects and sets the patterns of the target travel route LI shown in FIGS. 6 to 8 based on the manual operation received by the travel route pattern selection reception unit 34 (FIG. 2). That is, the route generation unit 23 is configured to be able to select and set the target travel route LI to a reciprocating travel pattern (wide turning area), a reciprocating travel pattern (narrow turning area), and a spiral travel pattern.

[0083] However, for example, it is conceivable that soybeans are planted in the field 5 and ridges are formed. When the combine 1 travels circumferentially in the field 5 where ridges are formed, when the combine 1 advances in a direction that largely intersects the extending direction of the ridges, the combine 1 vibrates greatly due to the unevenness of the ridges. At this time, there is a risk that the tip of the harvesting unit H will sink into the inclined portion of the ridge, and there is a risk that the soil at the tip of the harvesting unit H will be scooped up and conveyed by the conveying unit 16 together with the crop. If the soybean grains and soil are mixed, it may lead to a decrease in the commercial value due to factors such as damage to the grains. In order to avoid such inconveniences, in the present embodiment, the combine 1 is configured not to perform automatic harvesting travel involving circumferential travel in the field 5 where ridges are formed.

[0084] As described above, the field mode setting unit 25 can selectively set the field mode to a first field mode used when harvesting rice, wheat, barley, etc., and a second field mode used when harvesting soybeans, adzuki beans, buckwheat, etc. Further, in the present embodiment, when the field mode is set to the second field mode, the travel mode setting unit 27 allows setting the automatic travel mode to the manned automatic travel mode and prohibits setting the automatic travel mode to the unmanned automatic travel mode.

[0085] Figures 6 to 8 show the unworked area WA and the target travel route LI when the field mode is set to the first field mode. When the field mode is set to the first field mode, as shown by the travel locus TR, only a single round of manual travel around the outer perimeter is performed, and the target travel route LI is generated by the route generation unit 23 in the unworked area WA.

[0086] That is, when the field mode is set to the first field mode, the area calculation unit 22 is configured to calculate the unworked area WA based on the travel locus TR of the circular travel in response to the completion of one round of circular travel.

[0087] In the example shown in FIGS. 6 to 8, along the target travel route LI, either unmanned automatic harvesting travel or manned automatic harvesting travel of the combine 1 is possible.

[0088] FIG. 9 shows a field 5 in which soybeans, azuki beans, buckwheat, etc. are planted and ridges are formed. FIG. 9 shows the travel locus TR, the unworked area WA, and the target travel route LI when the field mode is set to the first field mode. FIG. 9 shows the travel locus TR of the outer perimeter travel by manual travel for three rounds.

[0089] That is, when the combine 1 makes a circular travel in the field 5 where ridges are formed, when the combine 1 moves forward in a direction that largely intersects the extending direction of the ridges, the combine 1 vibrates greatly due to the unevenness of the ridges. At this time, an operator or the like adjusts the height of the harvesting unit H and the vehicle speed of the combine 1 while visually checking from the riding unit 12 so that the tip of the harvesting unit H does not sink into the inclined portion of the ridge.

[0090] Then, when the outer perimeter travel by manual travel is performed for an arbitrary plurality of rounds and a turning area for the reciprocating target travel route LI2 is secured at the edge of the field 5, the unworked area WA is calculated by the area calculation unit 22, and the reciprocating target travel route LI2 is generated by the route generation unit 23. Then, manned automatic harvesting travel of the combine 1 is performed along the reciprocating target travel route LI2.

[0091] In FIG. 9, a travel locus TR of the outer circumference travel by manual travel for three rounds is shown. However, the outer circumference travel may be two rounds or four rounds or more. That is, when the field mode is set to the second field mode, the area calculation unit 22 is configured to calculate an unworked area WA based on the travel locus TR of the circumferential travel in response to the circumferential travel being performed N rounds or more (N is a number of 2 or more).

[0092] The process of generating a target travel route LI for performing automatic harvesting travel in each of the case where the field mode is the first field mode and the case where the field mode is the second field mode will be described based on the flowchart of FIG. 5. In step #31, the control device 20 determines whether the field mode setting unit 25 is set to either the first field mode or the second field mode.

[0093] When the field mode is the first field mode (step #31: first field mode), an operator or the like boards the boarding section 12 and harvests crops while performing circumferential travel (outer circumference travel) along the ridge of the field 5 by manual travel (step #32). Then, the control device 20 determines whether the circumferential travel (outer circumference travel) has been performed for one round (step #33). While the circumferential travel (outer circumference travel) has not been performed for one round (step #33: No), steps #32 and #33 are repeated.

[0094] When the circumferential travel (outer circumference travel) has been performed for one round (step #33: Yes), the area calculation unit 22 calculates an unworked area WA based on the travel locus TR of the circumferential travel (step #34).

[0095] Subsequently, it is selected which pattern among the reciprocating travel pattern (wide turning area), the reciprocating travel pattern (narrow turning area), and the spiral travel pattern the target travel route LI is generated in (step #35). After one round of circular travel (outer peripheral travel), for example, a setting screen for pattern selection of the target travel route LI is displayed on the touch panel monitor of the display operation terminal 4, and as an input button on the setting screen, the travel route pattern selection reception unit 34 receives a manual operation by an operator or the like. Then, the route generation unit 23 selects and sets the pattern of the target travel route LI based on the manual operation received by the travel route pattern selection reception unit 34 (FIG. 2). Note that the timing of pattern selection in step #35 is not limited to after the end of outer peripheral travel, and may be before the start of outer peripheral travel or the like.

[0096] When the reciprocating travel pattern (wide turning area) is selected as the pattern of the target travel route LI (step #35: reciprocating travel pattern (wide turning area)), the route generation unit 23 generates a target travel route LI of the reciprocating travel pattern (wide turning area) as shown in FIG. 6 (step #36). The target travel route LI of the reciprocating travel pattern (wide turning area) has a circular target travel route LI1 of two or more rounds and a reciprocating target travel route LI2. Thereby, a wider turning area of the combine 1 is secured in the area outside the reciprocating target travel route LI2 (the edge of the field 5).

[0097] When the reciprocating travel pattern (narrow turning area) is selected as the pattern of the target travel route LI (step #35: reciprocating travel pattern (narrow turning area)), the route generation unit 23 generates a target travel route LI of the reciprocating travel pattern (narrow turning area) as shown in FIG. 7 (step #37). The target travel route LI of the reciprocating travel pattern (narrow turning area) has a circular target travel route LI1 of one round and a reciprocating target travel route LI2. Since the area outside the reciprocating target travel route LI2 (the edge of the field 5) is narrower than the area in the case of the reciprocating travel pattern (wide turning area), the combine 1 may perform a reverse turn (switchback) when turning after mowing along the reciprocating target travel route LI2.

[0098] When the spiral travel pattern is selected for the pattern of the target travel route LI (step #35: spiral travel pattern), the route generation unit 23 generates the target travel route LI of the spiral travel pattern as shown in FIG. 8 (step #38). The target travel route LI of the spiral travel pattern has a spiral circular target travel route LI1.

[0099] When the target travel route LI is generated in any of steps #36 to #38, the drive control unit 24 starts automatic driving (unmanned automatic harvesting travel or manned automatic harvesting travel) along the target travel route LI. In the case of unmanned automatic harvesting travel, the operator or the like operates a portable remote control device or the like to start the automatic harvesting travel. In the case of manned automatic harvesting travel, for example, the automatic harvesting travel is started by operating a main transmission lever (not shown) provided in the passenger section 12.

[0100] The case where the field mode is the second field mode (step #31: second field mode) will be described. As described above, when the field mode is the second field mode, the travel mode setting unit 27 prohibits setting the automatic travel mode to the unmanned automatic travel mode. Therefore, the travel mode setting unit 27 sets the automatic travel mode to the manned automatic travel mode (step #39). Then, the object detection mode setting unit 28 reads out the object detection mode stored in the storage unit 29 (step #40). The processes of step #39 and step #40 are the same as the processes of step #11 and step #12 shown in FIG. 4.

[0101] That is, the travel mode setting unit 27 is configured to set the automatic travel mode to the manned automatic travel mode if the automatic travel mode is the unmanned automatic travel mode in response to the field mode being set to the second field mode.

[0102] Further, the route generation unit 23 receives an input for determining the number N indicating the number of laps (step #41). The process of receiving the input of the number N may be configured to receive an input for setting the number of laps, for example, on the setting screen of the touch panel monitor of the display operation terminal 4. Further, the process of receiving the input of the number N may be configured to receive an input for setting whether to allow or prohibit a turn accompanied by a reverse (switchback) when performing a turning travel in an area outside the reciprocating target travel route LI2 (the edge of the field 5).

[0103] In other words, the configuration may be such that an operator or the like directly inputs the numerical value of the number N on the setting screen, or the configuration may be such that when an operator or the like sets the turning travel pattern (inversion with only forward movement or inversion accompanied by a switchback) in an area outside the reciprocating target travel route LI2, the number N is automatically set.

[0104] The larger the number N, the more laps of the outer peripheral travel by manual driving, but a wider turning area is secured outside the reciprocating target travel route LI2.

[0105] An operator or the like boards the boarding section 12 and harvests the crops while performing a turning travel (outer peripheral travel) along the edge of the field 5 by manual driving (step #42). Then, the control device 20 determines whether or not the turning travel (outer peripheral travel) has been performed for N laps (step #43). While the turning travel (outer peripheral travel) has not been performed for N laps (step #43: No), steps #42 and #43 are repeated.

[0106] When the turning travel (outer peripheral travel) has been performed for N laps (step #43: Yes), the area calculation unit 22 calculates the unworked area WA based on the travel locus TR of the turning travel (step #44). Then, the route generation unit 23 generates a target travel route LI having a reciprocating travel pattern (without turning travel) as shown in FIG. 9 (step #45). The reciprocating target travel route LI2 shown in FIG. 9 extends along the extending direction of the ridges.

[0107] In this way, when the field mode is set to the first field mode, the path generation unit 23 is configured to generate a target travel path LI that allows work travel around the outer peripheral edge of the unworked area WA. Further, when the field mode is set to the second field mode, the path generation unit 23 is configured to generate a target travel path LI that does not allow work travel around the outer peripheral edge of the unworked area WA.

[0108] When the field mode is set to the first field mode, the travel mode setting unit 27 is configured to be able to set the automatic travel mode to the unmanned automatic travel mode. Further, when the field mode is set to the second field mode, the travel mode setting unit 27 is configured to be unable to set the automatic travel mode to the unmanned automatic travel mode.

[0109] 〔Alternative Embodiment〕 The present invention is not limited to the configurations illustrated in the above-described embodiments. Hereinafter, representative alternative embodiments of the present invention will be exemplified.

[0110] (1) As described above, when the field mode is set to the second field mode, the path generation unit 23 is configured to generate a target travel path LI that does not allow work travel around the outer peripheral edge of the unworked area WA. Therefore, N rounds of outer peripheral travel by manual travel as shown in FIG. 9 are performed, but the N rounds of outer peripheral travel by manual travel may be in the form shown in FIG. 10. Manual outer peripheral travel may be performed so that sufficient turning areas are secured at the edges of the ridges outside the reciprocating target travel path LI2 along the reciprocating target travel path LI2 along the extending direction of the ridges, and manned automatic harvesting travel is performed along the reciprocating target travel path LI2. For this reason, for example, as shown in FIG. 10, at the edges of the ridges of the field 5, the outer peripheral travel by manual travel may be performed so as to secure sufficient turning areas by performing a plurality of reciprocating travels in a direction intersecting the extending direction of the ridges.

[0111] (2) In the above-described embodiment, the obstacle sensor group 2 senses in four different directions respectively to detect the presence or absence of an object around the body 19 of the combine 1. However, the present invention is not limited to this embodiment. For example, the obstacle sensor group 2 may be configured to sense in the front and rear two directions. The camera 2B was treated as a monocular camera, but it may also be a stereo camera. Further, the obstacle sensor group 2 may be provided with a LiDAR, a sonar, or the like.

[0112] (3) In the above-described embodiment, the control device 20 is provided in the combine 1. However, the present invention is not limited to this embodiment. Among the control devices 20, each element other than the drive control unit 24 may be provided in a management computer or the like separate from the combine 1. In this case, the control device 20, the satellite positioning module 80, the obstacle sensor group 2, the boarding detection unit 30, the field mode selection reception unit 31, the traveling mode selection reception unit 32, the object detection mode selection reception unit 33, and the traveling route pattern selection reception unit 34 may be configured to be able to communicate with each other via a wireless communication network. Such a configuration is also included in the traveling management system A. Further, a plurality of combines 1 may be provided, and a plurality of combines 1 may be configured to perform unmanned automatic harvesting travel in the field 5 simultaneously while communicating with each other via a wireless communication network. In this case, among the control devices 20, each element other than the drive control unit 24 may be provided only in one combine 1.

[0113] (4) The harvesting machine may be various harvesting machines such as a normal combine, a self-threshing combine, a corn harvester, a sugarcane harvester, a soybean harvester, and a root vegetable harvester.

[0114] Note that the configurations disclosed in the above-described embodiments (including other alternative embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Further, 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

[0115] The present invention is applicable to a travel management system for a harvester that harvests crops while traveling in a field.

Explanation of Signs

[0116] 1: Combine (Harvester) 2: Obstacle sensor group (Object detection unit) 5: Field 12: Cab 22: Area calculation unit (Unworked area calculation unit) 23: Route generation unit (Travel route generation unit) 24: Drive control unit 24A: Travel control unit 25: Field mode setting unit 26: Field state acquisition unit 27: Travel mode setting unit 28: Object detection mode setting unit 29: Memory unit (Object detection mode memory unit) 30: Occupancy detection unit 31: Field mode selection reception unit A: Travel management system LI: Target travel route TR: Travel locus WA: Unworked area

Claims

1. A travel management system for a harvester that harvests crops while traveling in a field, comprising: a field mode setting unit that selectively sets a field mode including a first field mode and a second field mode; an unworked area calculation unit that calculates an unworked area based on a travel trajectory of a circular travel in which the harvester circles the outer peripheral area of the field while harvesting the crops during travel involving manual operation; and the unworked area calculation unit calculates the unworked area based on the travel trajectory of the circular travel in response to the circular travel being performed one or more times when the field mode is set to the first field mode; A travel management system configured to calculate the unworked area based on the travel trajectory of the circular travel in response to the circular travel being performed N or more times (N is a number of 2 or more determined in advance) when the field mode is set to the second field mode.

2. The travel management system according to claim 1, further comprising a field mode selection reception unit that receives an artificial selection operation for setting the field mode to either the first field mode or the second field mode.

3. Comprising a field state acquisition unit that acquires the state of the field, The travel management system according to claim 1, wherein the field mode setting unit is configured to selectively set the field mode to the first field mode and the second field mode according to the acquisition result of the field state acquisition unit.

4. A travel route generation unit that generates a target travel route for causing the harvester to perform a work travel for harvesting the crops in the unworked area in automatic travel, The travel route generation unit generates the target travel route that allows the work travel that circles along the outer peripheral edge of the unworked area when the field mode is set to the first field mode, and generates the target travel route that does not allow the work travel that circles along the outer peripheral edge of the unworked area when the field mode is set to the second field mode. The travel management system according to any one of claims 1 to 3.

5. An automatic travel control unit that controls the automatic travel of the harvester to harvest the crops in the unworked area; A boarding detection unit that detects a passenger boarding the boarding section of the harvester; A driving mode setting unit that selectively sets a driving mode including an unmanned automatic driving mode that allows the automatic driving by the automatic driving control unit when no passenger is detected in the passenger compartment, and a manned automatic driving mode that does not allow the automatic driving by the automatic driving control unit when no passenger is detected in the passenger compartment. The driving mode setting unit is configured to set the automatic driving mode to the manned automatic driving mode if the automatic driving mode is the unmanned automatic driving mode in response to the field mode being set to the second field mode. The driving management system according to any one of claims 1 to 3.

6. An object detection unit that detects the presence or absence of an object around the harvester. An object detection mode setting unit that selectively sets an object detection mode including an object detection effective mode that interrupts the automatic driving by the automatic driving control unit in response to the detection of the object by the object detection unit, and an object detection ineffective mode that allows the automatic driving by the automatic driving control unit regardless of the detection of the object by the object detection unit. An object detection mode storage unit that stores the object detection mode before the driving mode setting unit is switched to an automatic driving mode other than the manned automatic driving mode in response to the driving mode setting unit being switched to an automatic driving mode other than the manned automatic driving mode. The object detection mode setting unit is configured to set the object detection mode to the object detection mode stored in the object detection mode storage unit in response to the automatic driving mode being set to the manned automatic driving mode again. The driving management system according to claim 5.

7. An automatic driving control unit that controls the automatic driving of the harvester to harvest the crops in the unworked area. A passenger detection unit that detects a passenger boarding the passenger compartment of the harvester. A driving mode setting unit that selectively sets a driving mode including an unmanned automatic driving mode that allows the automatic driving by the automatic driving control unit when no passenger is detected in the passenger compartment, and a manned automatic driving mode that does not allow the automatic driving by the automatic driving control unit when no passenger is detected in the passenger compartment. The travel mode setting unit is configured to be able to set the automatic travel mode to the unmanned automatic travel mode when the field mode is set to the first field mode, and is configured to be unable to set the automatic travel mode to the unmanned automatic travel mode when the field mode is set to the second field mode. The travel management system according to any one of claims 1 to 3.

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