Automated driving method and automated driving system

Abstract

The present invention provides an automated driving method, an automated driving system, and an automated driving program that enable a work vehicle to appropriately turn and travel along a turning path that includes a reverse turning path. [Solution] The driving processing unit 111 drives the combine harvester 1 according to a plurality of work paths included in the target path, which cause the combine harvester 1 to perform predetermined tasks, and a turning path that connects the plurality of work paths. The countermeasure processing unit 113 executes a countermeasure process to move the combine harvester 1 into a work path following the turning path if the combine harvester 1 deviates from the reverse turning path included in the turning path while it is turning in reverse.

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program capable of automatically driving a work vehicle.

Background Art

[0002] Conventionally, in a field, a work vehicle that automatically travels according to a preset target path is known. For example, the work vehicle performs a mowing operation ("round mowing") while automatically traveling in a spiral shape from the outer peripheral side to the inner peripheral side from the work start position to the work end position in the field (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the work vehicle performs round mowing, after working on the work path, the work vehicle turns 90 degrees (changes direction) and enters the next work path. When the work vehicle turns 90 degrees, the work vehicle is likely to be displaced in the left - right direction in the reverse turning path included in the turning path. If a displacement occurs in the work vehicle in the turning path, the entry position into the next work path is shifted, resulting in uncut areas.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program capable of appropriately turning and traveling the work vehicle in a turning path including a reverse turning path.

Means for Solving the Problems

[0006] The automatic driving method according to the present invention is a method for automatically driving a work vehicle according to a pre-set target path. The automatic driving method performs the following actions: driving the work vehicle according to a plurality of work paths included in the target path, which cause the work vehicle to perform predetermined tasks, and turning paths connecting the plurality of work paths; and driving the work vehicle forward toward the first work path when the vehicle orientation of the work vehicle comes within a predetermined angle with respect to the first work path that follows the turning path while the work vehicle is turning in reverse.

[0007] The automated driving system according to the present invention is a system that automatically drives a work vehicle according to a pre-set target route. The automated driving system drives the work vehicle according to a plurality of work routes included in the target route, which cause the work vehicle to perform predetermined tasks, and a turning route connecting the plurality of work routes, and when the vehicle orientation of the work vehicle comes to within a predetermined angle with respect to a first work route that follows the turning route while the work vehicle is turning in reverse, the system drives the work vehicle forward toward the first work route. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide an automated driving method, an automated driving system, and an automated driving program that can appropriately drive a work vehicle in a turning path that includes a reverse turning path. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target path set in a field according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a turning path included in a target path according to an embodiment of the present invention. [Figure 5A]Figure 5A shows an example of a conventional method of turning and traveling for a combine harvester. [Figure 5B] Figure 5B shows an example of a conventional method of turning and traveling for a combine harvester. [Figure 6A] Figure 6A shows another example of a conventional combine harvester's turning travel method. [Figure 6B] Figure 6B shows another example of a conventional combine harvester's turning and traveling method. [Figure 7A] Figure 7A shows an example of a method for a combine harvester to travel in a turning position according to an embodiment of the present invention. [Figure 7B] Figure 7B shows an example of a method for rotating and traveling with a combine harvester according to an embodiment of the present invention. [Figure 8A] Figure 8A shows another example of a method for the turning travel of a combine harvester according to an embodiment of the present invention. [Figure 8B] Figure 8B shows another example of a method for the turning travel of a combine harvester according to an embodiment of the present invention. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving system according to an embodiment of the present invention. [Figure 10] Figure 10 shows another example of a method for rotating and traveling with a combine harvester according to an embodiment of the present invention. [Figure 11] Figure 11 shows another example of a method for the turning travel of a combine harvester according to an embodiment of the present invention. [Figure 12A] Figure 12A shows another example of a method for the turning travel of a combine harvester according to an embodiment of the present invention. [Figure 12B] Figure 12B shows another example of a method for rotating and traveling with a combine harvester according to an embodiment of the present invention. [Figure 13A] Figure 13A shows another example of a method for rotating and traveling with a combine harvester according to an embodiment of the present invention. [Figure 13B] Figure 13B shows another example of a method for the turning travel of a combine harvester according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention

[0010] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0011] As an example of the work vehicle of the present invention, the combine 1 will be described. As shown in FIG. 1, the automatic driving system 10 according to the embodiment of the present invention includes the combine 1 and the operation terminal 3. The combine 1 and the operation terminal 3 can communicate via the communication network N1. For example, the combine 1 and the operation terminal 3 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

[0012] The combine 1 is a work vehicle that performs farming operations such as harvesting in a field. The combine 1 performs work while traveling, and transmits the GNSS information of the GNSS antenna mounted on the combine 1, that is, the own vehicle position of the combine 1, to the operation terminal 3 as measurement point data.

[0013] Further, the combine 1 is configured as an autonomous driving vehicle that performs autonomous driving according to a preset target route. Further, the combine 1 receives various setting information from the operation terminal 3 and performs autonomous driving according to the setting information.

[0014] The operation terminal 3 is a portable terminal capable of remotely operating the combine 1, and is composed of, for example, a tablet terminal, a notebook personal computer, a smartphone, etc. Note that an operation device similar to the operation terminal 3 may be mounted on the combine 1.

[0015] An operator can perform setting operations on various setting items on the operation terminal 3. Further, the operation terminal 3 displays information such as the work status and travel status of the combine 1 during autonomous driving. The operator can grasp the work status and travel status on the operation terminal 3.

[0016] Figure 3 shows an example of a target path generated for field F. For example, combine harvester 1 performs harvesting ("circular harvesting") within field F, traveling in a spiral pattern from the outer perimeter to the inner perimeter, following the target path from the start position S to the end position G. Specifically, in the outer perimeter area Fa of field F, combine harvester 1 performs harvesting while traveling along the edge of the field (outer perimeter). In the inner perimeter area Fb of field F, combine harvester 1 performs harvesting while traveling in a straight line in the vertical direction of Figure 3, and moves between work paths by turning and traveling in a straight line without performing harvesting in the horizontal direction.

[0017] Here, when the combine harvester 1 moves from one work path to the next, it automatically travels along a turning path. Figure 4 shows an example of a turning path. For example, as shown in Figure 4, the turning path connecting work paths r11 and r16 within the work area A1 includes a forward straight path r12 connected to work path r11, a reverse turning path r13 (reverse turning path), a reverse straight path r14 (reverse straight path), and a forward straight path r15 connected to work path r16. The turning path is a path included in the target path and is set in advance. In the target path shown in Figure 4, when the combine harvester 1 has worked and traveled along work path r11, it travels straight along the straight path r12 and stops at the reverse start position p1. Subsequently, combine harvester 1 switches to reverse and travels in reverse along the reverse turning path r13 (reverse turning), then travels in reverse along the straight path r14 (reverse straight), and stops at the reverse end position p2. After that, combine harvester 1 switches to forward and travels straight along the straight path r15 to enter the work path r16.

[0018] As described above, when the combine harvester 1 changes direction by reversing, the combine harvester 1 is prone to shifting position laterally in the reverse turning path r13 included in the turning path. In conventional technology, as shown in Figures 5 and 6, if the combine harvester 1 shifts position in the reverse turning path r13, the entry position into the next work path r16 is shifted, resulting in the problem of uncut areas.

[0019] For example, as shown in Figure 5A, if the combine harvester 1 deviates from its position in a direction with a larger turning radius than the reverse turning path r13 and makes a wide turn (travel path r21 in Figure 5A), the vehicle orientation of the combine harvester 1 will be oblique to the work path r16 at the stopping position. Therefore, if the combine harvester 1 then switches to the forward direction and attempts to move to the work path r16, as shown in Figure 5B, it will travel along path r22, resulting in an unharvested area B1. Note that if the combine harvester 1 deviates from the target path, it will stop at a position corresponding to the braking distance based on the reverse end position p2.

[0020] Furthermore, as shown in Figure 6A, for example, if the combine harvester 1 shifts its position in a direction with a smaller turning radius than the reverse turning path r13 and makes a tight turn (travel path r31 in Figure 6A), the vehicle orientation of the combine harvester 1 at the stopping position will be oblique to the work path r16. As a result, if the combine harvester 1 then switches to the forward direction and attempts to move to the work path r16, as shown in Figure 6B, it will travel along path r32, resulting in an unharvested area B2.

[0021] In contrast, the automated driving system 10 according to this embodiment has a configuration that enables the combine harvester 1 to appropriately turn and travel along a turning path that includes a reverse turning path, as shown below. The specific configurations for realizing the above configuration will be described below for each of the combine harvester 1 and the operating terminal 3.

[0022] [Operating terminal 3] As shown in Figure 1, the operating terminal 3 is an information processing device comprising an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34, etc. The operating terminal 3 is configured as, for example, a tablet terminal.

[0023] The communication unit 34 is a communication interface for connecting the operating terminal 3 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as combines 1 via the communication network N1 in accordance with a predetermined communication protocol.

[0024] The operation display unit 33 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can register various setting information by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue automatic driving instructions to the combine harvester 1 by operating the operation unit. Furthermore, the operator can understand the driving status of the combine harvester 1 as it automatically travels within the field F by observing the driving trajectory displayed on the operation terminal 3, even from a location away from the combine harvester 1.

[0025] The storage unit 32 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 32 stores a control program that causes the operation control unit 31 to execute predetermined control processing. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) provided on the operation terminal 3 and stored in the storage unit 32. Alternatively, the control program may be downloaded from a server (not shown) to the operation terminal 3 via a communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0026] Furthermore, a dedicated application for automatically operating the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts the dedicated application and performs various setting information processing related to the combine harvester 1, issues automatic operation instructions to the combine harvester 1, and so on.

[0027] The operation control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for various processes performed by the CPU. The operation control unit 31 controls the operation terminal 3 by executing various control programs that are pre-stored in the ROM or memory unit 32 using the CPU.

[0028] As shown in Figure 1, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. The operation control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0029] The setting processing unit 311 sets various setting information for the combine harvester 1 to operate automatically. Specifically, the setting processing unit 311 sets field information related to the field. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost perimeter of the field, measurement point data that constitutes the outermost perimeter of the field, and the shape, size, and location information (coordinates, etc.) of the work area within the field where work is performed. The field information also includes the address of the field, the registration name and registration date of the field information, and the registration name and registration date of the work area within the field. The setting processing unit 311 accepts the registration operation of field information by the operator and sets the field information.

[0030] Furthermore, the setting processing unit 311 creates a target path including the work path and the turning path. For example, the operator selects the path pattern, turning type, etc., on the setting screen (not shown). The path patterns include "reciprocal mowing," which involves going back and forth through multiple strokes, and "circular mowing," which involves repeating a circular motion along the inner circumference of the work area within the field while shifting it towards the center. The operator selects one of these path patterns. In addition, the operator can correct the turning radius when turning during reciprocal mowing and circular mowing operations on the setting screen.

[0031] Furthermore, the setting processing unit 311 creates a work route based on information such as the field information, the route pattern, the turning type, and the turning radius. The setting processing unit 311 registers the created work route in association with the field.

[0032] Furthermore, the setting processing unit 311 sets the travel speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight-ahead vehicle speed, turning vehicle speed, and reverse vehicle speed for both working and non-working states on the setting screen.

[0033] In addition to the information described above, the setting processing unit 311 sets well-known information such as the type of combine harvester 1 (maximum number of harvesting rows), vehicle width, and vehicle length.

[0034] The output processing unit 312 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, the output processing unit 312 outputs work start instructions and work end instructions to the combine harvester 1 based on the operator's operations.

[0035] When the operation control unit 31 receives the work start instruction from the operator, the output processing unit 312 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 receives the work start instruction from the operation terminal 3. Upon receiving the work start instruction, the control device 11 starts the work and movement of the combine harvester 1. When the operation control unit 31 receives the work stop instruction from the operator, the output processing unit 312 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 receives the work stop instruction from the operation terminal 3. Upon receiving the work stop instruction, the control device 11 stops the work and movement of the combine harvester 1.

[0036] The operating terminal 3 may also be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operating terminal 3 can function as an operating terminal for the server by having a browser program executed by the operation control unit 31. The server then comprises the processing units described above and executes each of the processes.

[0037] [Combine Harvester 1] Figure 2 shows a side view of the combine harvester 1. As shown in Figures 1 and 2, the combine harvester 1 includes a threshing unit 4, a sorting unit 5, a straw processing unit 6, a power unit 8, a control unit 9, a control device 11, a memory unit 12, a positioning unit 13, a driving unit 14, a harvesting unit 15, a storage unit 16, a communication unit 17, and the like. The combine harvester 1 is a so-called self-propelled combine harvester. The combine harvester 1 moves using the driving unit 14, threshes the grain stalks harvested by the harvesting unit 15 in the threshing unit 4, sorts the grain in the sorting unit 5 and stores it in the storage unit 16. The combine harvester 1 processes the straw after threshing using the straw processing unit 6. The combine harvester 1 drives the driving unit 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw processing unit 6 with power supplied by the power unit 8.

[0038] The running gear 14 is located below the machine frame 29 and comprises a pair of left and right crawler-type running gears 2 and a transmission (not shown). The running gear 14 uses power (e.g., rotational power) transmitted from the engine 27 of the power unit 8 to rotate the crawlers of the crawler-type running gears 2, thereby causing the combine harvester 1 to travel in the forward and backward directions and to turn in the left and right directions. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type running gears 2 and can also change the speed of the rotational power.

[0039] The harvesting unit 15 is located in front of the traveling unit 14 and performs harvesting work on rows within the number of harvestable rows. The harvesting unit 15 is equipped with a divider 28, a lifting device 20, a cutting device 23, and a conveying device 7. The divider 28 separates the grain stalks in the field into individual rows and guides a predetermined number of grain stalks within the number of harvestable rows to the lifting device 20. The lifting device 20 lifts the grain stalks guided by the divider 28. The cutting device 23 cuts the grain stalks that have been lifted by the lifting device 20. The conveying device 7 conveys the grain stalks cut by the cutting device 23 to the threshing unit 4.

[0040] The threshing unit 4 is located behind the harvesting unit 15. The threshing unit 4 comprises a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks of grain conveyed from the conveying device 7 of the harvesting unit 15 for threshing, and further transports the threshed stalks, i.e., the straw, to the straw disposal unit 6. The threshing drum 19 threshes the stalks of grain being transported by the feed chain 18.

[0041] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 includes an oscillating sorting device 21, a blown-air sorting device 22, a grain conveying device (not shown), and a straw debris discharge device (not shown). The oscillating sorting device 21 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw debris by sieving. The blown-air sorting device 22 further separates the threshed grain separated by the oscillating sorting device 21 into grain and straw debris by blowing air. The grain conveying device conveys the grain separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the storage unit 16. The straw debris discharge device discharges the straw debris separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the outside of the machine.

[0042] The storage unit 16 is located to the right of the threshing unit 4. The storage unit 16 comprises a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grain that has been transported from the sorting unit 5. The discharge device 25 consists of an auger and the like, and at a predetermined discharge position in the field F, it discharges the grain stored in the storage tank 24 to a transport vehicle.

[0043] The straw removal section 6 is located behind the threshing section 4. The straw removal section 6 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0044] The power unit 8 is located above the traveling unit 14 and in front of the storage unit 16. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

[0045] The control unit 9 is located above the power unit 8. The control unit 9 is equipped with controls around the driver's seat, which is the seat where the operator sits, for controlling the movement of the combine harvester 1. These controls include a handle for instructing the turning of the combine harvester 1, and a main and sub-transmission levers for instructing changes in the forward and reverse speed of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the driving unit 14, which receives input from the handle, main and sub-transmission levers of the control unit 9. The control unit 9 also includes mechanisms for operating the harvesting operation by the harvesting unit 15, the threshing operation by the threshing unit 4, and the discharge operation by the discharge device 25 of the storage unit 16.

[0046] The positioning unit 13 acquires the position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives positioning signals from positioning satellites via a positioning antenna and acquires position information of the positioning unit 13, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals.

[0047] The communication unit 17 (see Figure 1) is a communication interface for connecting the combine 1 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as the operation terminal 3 via the communication network N1 in accordance with a predetermined communication protocol.

[0048] The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 12 stores control programs, such as an automatic driving program, which causes the control device 11 to execute the automatic driving process (see Figure 9) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the combine 1 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information obtained from the operation terminal 3.

[0049] The control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for the various processes performed by the CPU. The control device 11 controls the combine 1 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0050] Specifically, as shown in Figure 1, the control device 11 includes various processing units such as a driving processing unit 111, an acquisition processing unit 112, and a handling processing unit 113. The control device 11 functions as these various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The automatic driving program may be a program that causes multiple processors to function as processing units.

[0051] The driving processing unit 111 automatically drives the combine harvester 1 according to a target route set for field F. Specifically, the driving processing unit 111 drives the combine harvester 1 according to a plurality of work routes included in the target route, which cause the combine harvester 1 to perform predetermined tasks (harvesting), and a turning route that connects the plurality of work routes. For example, the driving processing unit 111 acquires various setting information set for field F from the operation terminal 3. In addition, during harvesting, the driving processing unit 111 acquires the position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8, driving unit 14, and harvesting unit 15 so that the combine harvester 1 automatically drives along the work routes and performs harvesting.

[0052] For example, as shown in Figure 4, the travel processing unit 111 causes the combine harvester 1 to automatically travel along a turning path in order to move to the next work path r16 after it has automatically traveled along the work path r11. Specifically, when the combine harvester 1 reaches the end position of the work path r11, the travel processing unit 111 stops the harvesting work and causes it to travel straight along the straight path r12. Next, when the combine harvester 1 reaches the reverse start position p1, the travel processing unit 111 stops it and switches the direction of travel to the reverse direction. The travel processing unit 111 causes the combine harvester 1 to reverse and turn along the reverse turning path r13.

[0053] Here, the acquisition processing unit 112 acquires the amount of positional deviation from the target path (reverse turning path r13) when the combine harvester 1 reverses and turns from the reverse starting position p1. For example, as shown in Figure 7A, if the actual travel path r21 of the combine harvester 1 is deviated from the reverse turning path r13 while the combine harvester 1 is reversing and turning, the acquisition processing unit 112 acquires the amount of positional deviation between the travel path r21 and the reverse turning path r13. The acquisition processing unit 112 can calculate the amount of positional deviation based on the positioning information of the positioning unit 13 and the position information (coordinate information) of the target path.

[0054] The handling unit 113 executes a corrective process to move the combine harvester 1 into the work path r16 that follows the turning path if the combine harvester 1 deviates from the reverse turning path r13 while turning in reverse. Specifically, the handling unit 113 executes the corrective process when the amount of positional deviation acquired by the acquisition unit 112 exceeds a threshold. Furthermore, when the amount of positional deviation exceeds the threshold, the handling unit 113 sets a corrective path that is different from the reverse turning path r13 and connects to the work path r16, and makes the combine harvester 1 automatically travel according to the corrective path.

[0055] For example, if the amount of positional deviation exceeds the threshold and the vehicle orientation of the combine harvester 1 becomes parallel (or nearly parallel) to the work path r16, the processing unit 113 stops the combine harvester 1 and makes it move forward toward the work path r16. For example, as shown in Figure 7B, if the amount of positional deviation exceeds the threshold and the vehicle orientation of the combine harvester 1 becomes parallel to the work path r16, the processing unit 113 stops the combine harvester 1 at position p21, sets a countermeasure path r211 that connects to the work path r16, and makes the combine harvester 1 move forward toward the work path r16 according to the countermeasure path r211. By making the combine harvester 1 move automatically according to the countermeasure path r211, the combine harvester 1 can smoothly enter the work path r16 with gentle turning. This prevents the occurrence of unharvested areas B1 (see Figure 5B).

[0056] Figure 7A shows an example where the combine harvester 1 is displaced in a direction with a larger turning radius than the reverse turning path r13, but the same applies when the combine harvester 1 is displaced in a direction with a smaller turning radius than the reverse turning path r13 (see Figure 8A). As shown in Figure 8A, when the combine harvester 1 is automatically traveling according to the reverse turning path r13, if the actual travel path r31 of the combine harvester 1 is displaced from the reverse turning path r13, the acquisition processing unit 112 acquires the amount of positional displacement between the travel path r31 and the reverse turning path r13. Also, as shown in Figure 8B, when the amount of positional displacement exceeds the threshold, the countermeasure processing unit 113 stops the combine harvester 1 at position p31 where the vehicle orientation of the combine harvester 1 is parallel to the work path r16, sets a countermeasure path r311 connected to the work path r16, and makes the combine harvester 1 travel forward toward the work path r16 according to the countermeasure path r311. By automatically driving combine harvester 1 along the work path r311, combine harvester 1 can smoothly enter the work path r16 through gentle turning. This prevents the occurrence of unharvested area B2 (see Figure 6B).

[0057] Thus, if the combine harvester 1 deviates from the target path (reverse turning path r13) while reversing, the processing unit 113 executes a countermeasure that stops the combine harvester 1 midway without allowing it to reverse to the end position p2, and switches it to forward travel toward the work path r16. In addition, the processing unit 113 executes a countermeasure that stops the combine harvester 1 at a position (parallel position) where the vehicle orientation allows it to smoothly enter the work path r16, and switches it to forward travel.

[0058] The threshold is set to a value smaller than the upper limit at which the combine harvester 1 will perform an emergency stop process due to a deviation from the target path. Furthermore, the threshold may be set to a value corresponding to the speed of the combine harvester 1. For example, the threshold may be set to a smaller value the faster the speed of the combine harvester 1, and to a larger value the slower the speed of the combine harvester 1.

[0059] Furthermore, the threshold value may be set to different values ​​depending on whether the combine harvester 1 is displaced in a direction with a larger turning radius than the reverse turning path r13 (large turn) (see Figure 7) or displaced in a direction with a smaller turning radius than the reverse turning path r13 (small turn) (see Figure 8). For example, as the amount of crop stored in the storage tank 24 increases due to harvesting work, the weight of the combine harvester 1 increases, making it easier to make a wide turn when turning, and also reducing its driving stability. Therefore, the control device 11 may set the threshold value when the combine harvester 1 is displaced in the large turning direction (see Figure 7) to a smaller value than the threshold value when the combine harvester 1 is displaced in the small turning direction (see Figure 8). In this way, the control device 11 may be configured to execute the countermeasures earlier when the combine harvester 1 is displaced in the large turning direction. The control device 11 may also switch the threshold value in stages based on the amount of crop stored, such as setting the threshold value to a smaller value as the amount of crop stored in the storage tank 24 increases.

[0060] [Automatic driving process] An example of the automated driving process performed by the automated driving system 10 will be described below with reference to Figure 9.

[0061] Furthermore, the present invention can be understood as an invention of an automated driving method that performs one or more steps included in the automated driving process. The one or more steps included in the automated driving process described herein may be omitted as appropriate. The execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Moreover, although the case where the control device 11 executes each step in the automated driving process is described here as an example, an automated driving method in which one or more processors distribute and execute each step in the automated driving process can also be considered as another embodiment.

[0062] In step S1, the control device 11 determines whether or not it has received a work start instruction. If the control device 11 receives the work start instruction from the operation terminal 3 (S1: Yes), it proceeds to step S2. The control device 11 waits until it receives the work start instruction (S1: No).

[0063] In step S2, the control device 11 executes an automatic driving process. Specifically, the control device 11 makes the combine harvester 1 automatically drive according to the target route included in the setting information obtained from the operation terminal 3. For example, the control device 11 makes the combine harvester 1 automatically drive along the target route in field F (see Figure 3) while performing work (harvesting). The control device 11 may also be able to accept operation of the main gear lever by the operator riding in the combine harvester 1. In this case, the control device 11 changes the vehicle speed of the automatically driving combine harvester 1 according to the operator's operation.

[0064] Next, in step S3, the control device 11 determines whether the combine harvester 1 has reached the starting position (reverse starting position p1) of the reverse turning path r13 (see Figure 4). If the control device 11 determines that the combine harvester 1 has reached the reverse starting position p1 (S3: Yes), it proceeds to step S4. On the other hand, if the control device 11 determines that the combine harvester 1 has not reached the reverse starting position p1 (S3: No), it proceeds to step S9.

[0065] In step S4, the control device 11 causes the combine harvester 1 to start moving in reverse along the reverse turning path r13 (see Figure 4).

[0066] Next, in step S5, the control device 11 acquires the amount of positional deviation from the target path when the combine harvester 1 turns in reverse, and determines whether the amount of positional deviation is greater than or equal to a threshold.

[0067] For example, as shown in Figure 7A, when the combine harvester 1 is automatically traveling along the target path, which is the reverse turning path r13, if the actual travel path r21 of the combine harvester 1 is misaligned from the reverse turning path r13, the control device 11 acquires the amount of misalignment between the travel path r21 and the reverse turning path r13. Also, as shown in Figure 8A, when the combine harvester 1 is automatically traveling along the target path, which is the reverse turning path r13, if the actual travel path r31 of the combine harvester 1 is misaligned from the reverse turning path r13, the acquisition processing unit 112 acquires the amount of misalignment between the travel path r31 and the reverse turning path r13.

[0068] If the control device 11 determines that the amount of positional displacement is greater than or equal to the threshold (S5:Yes), it proceeds to step S6. On the other hand, if the control device 11 determines that the amount of positional displacement is less than the threshold (S5:No), it proceeds to step S51.

[0069] In step S51, the control device 11 continues the automatic driving process of the combine harvester 1. That is, as shown in Figure 4, the control device 11 makes the combine harvester 1 turn and travel along the straight path r12, the reverse turning path r13, the straight path r14, and the straight path r15, and then move to the next work path r16. After step S51, the control device 11 moves the process to step S9.

[0070] In response to this, in step S6, the control device 11 determines whether the vehicle orientation of the combine harvester 1 is parallel (or nearly parallel) to the work path r16. If the control device 11 determines that the vehicle orientation of the combine harvester 1 is parallel to the work path r16 (S6: Yes), it proceeds to step S7. On the other hand, the control device 11 waits until the vehicle orientation of the combine harvester 1 becomes parallel to the work path r16 (S6: No). The combine harvester 1 continues to reverse until its vehicle orientation becomes parallel to the work path r16.

[0071] In step S7, the control device 11 stops the combine harvester 1 while it is moving in reverse. For example, as shown in Figure 7B, the control device 11 stops the combine harvester 1 at a position p21 that is different from the reverse end position p2 and where the vehicle orientation is parallel to the work path r16. Alternatively, as shown in Figure 8B, the control device 11 stops the combine harvester 1 at a position p31 that is different from the reverse end position p2 and where the vehicle orientation is parallel to the work path r16.

[0072] Next, in step S8, the control device 11 switches the combine harvester 1 to forward travel. For example, as shown in Figure 7B, at position p21, the control device 11 switches the travel direction of the combine harvester 1 to the forward direction, sets a corresponding path r211 that connects to the work path r16, and causes the combine harvester 1 to travel forward toward the work path r16 according to the corresponding path r211. Alternatively, as shown in Figure 8B, for example, at position p31, the control device 11 switches the travel direction of the combine harvester 1 to the forward direction, sets a corresponding path r311 that connects to the work path r16, and causes the combine harvester 1 to travel forward toward the work path r16 according to the corresponding path r311.

[0073] As a result, combine harvester 1 travels along the countermeasure path r211 and enters the work path r16, and then travels and performs harvesting work according to the work path r16.

[0074] Next, in step S9, the control device 11 determines whether the combine harvester 1 has reached the work completion position G (see Figure 3). If the control device 11 determines that the combine harvester 1 has reached the work completion position G (S9: Yes), it terminates the automatic driving process. If the control device 11 determines that the combine harvester 1 has not reached the work completion position G (S9: No), it proceeds to step S2. The control device 11 repeatedly executes the above process until the combine harvester 1 reaches the work completion position G (S9: No). In this manner, the automatic driving system 10 executes the automatic driving process.

[0075] As described above, the automatic driving system 10 according to this embodiment automatically drives the combine harvester 1 according to a pre-set target path. The automatic driving system 10 also drives the combine harvester 1 according to a plurality of work paths included in the target path, which cause the combine harvester 1 to perform predetermined tasks, and turning paths that connect the plurality of work paths. Furthermore, if the combine harvester 1 deviates from the reverse turning path included in the turning path while it is turning in reverse, the automatic driving system 10 executes a corrective process to move the combine harvester 1 into the work path following the turning path.

[0076] According to the above configuration, when the combine harvester 1 moves from one work path to the next, if the combine harvester 1 deviates from a preset target path during the turning path, the combine harvester 1 can be made to travel along a path that makes it easier to enter the next work path (a countermeasure path), regardless of the target path. This allows the combine harvester 1 to smoothly transition to the next work path even if it deviates from the target path. For example, if the combine harvester 1 deviates from the reverse turning path r13, the automatic driving system 10 stops the combine harvester 1 when its vehicle orientation becomes parallel to the next work path r16, and switches to forward driving toward the work path r16. This allows the combine harvester 1 to enter the work path r16 with a gentle turning path rather than a sharp turning path, thus preventing the occurrence of unharvested areas B1 and B2 (see Figures 5B and 6B). In other words, it becomes possible to appropriately turn the combine harvester 1 in turning paths, including reverse turning paths.

[0077] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0078] In another embodiment, as shown in Figures 10 and 11, the control device 11 may stop the combine harvester 1 and allow it to move forward toward the work path r16 when the angle d1 between the vehicle orientation of the combine harvester 1 and the work path r16 is within a predetermined angle. That is, the control device 11 may stop the combine harvester 1 at a position p23 (see Figure 10) before the vehicle orientation of the combine harvester 1 becomes parallel to the work path r16, or at a position p33 (see Figure 11) after it becomes parallel, and allow it to move forward toward the work path r16. This allows the combine harvester 1 to enter the work path r16 more smoothly with a gentler turning motion (counter-path r223 (see Figure 10) and counter-path r323 (see Figure 11)).

[0079] In Figures 10 and 11, it is desirable for the control device 11 to stop the combine harvester 1 at a position where its vehicle orientation is more towards the straight path r15 than towards the starting position of the work path r16. This allows the mitigation paths r223 and r323 to the starting position of the work path r16 to be set as gentle turning paths, as shown in Figures 10 and 11. In other words, the control device 11 may set positions p23 and p33 based on the turning radii of the travel paths r21 and r31 and the turning radii of the mitigation paths r223 and r323.

[0080] Thus, in the present invention, if the combine harvester 1 deviates from the reverse turning path r13 while turning in reverse, and the vehicle orientation of the combine harvester 1 becomes within a predetermined angle with respect to the work path r16, the control device 11 may stop the combine harvester 1 and cause it to move forward toward the work path r16. Note that the angle d1 when the vehicle orientation of the combine harvester 1 is approximately parallel to the work path r16 corresponds to approximately 0 degrees (see Figures 7 and 8).

[0081] In another embodiment, the control device 11 may cause the combine harvester 1 to reverse a predetermined distance after it has deviated from the target path and stopped. Specifically, if the amount of deviation exceeds the threshold and the vehicle orientation of the combine harvester 1 is within a predetermined angle with respect to the work path r16, the control device 11 may cause the combine harvester 1 to reverse a predetermined distance parallel to the work path r16 and then move forward toward the work path r16. For example, in Figure 7B, if the distance from the stopping position p21 of the combine harvester 1 to the starting position of the work path r16 is short, a turning path with a small turning radius may be set in the countermeasure path r211. In this case, problems may arise such as a decrease in the driving stability of the combine harvester 1 or damage to the field F.

[0082] Therefore, as shown in Figure 12A, the control device 11 causes the combine harvester 1 to travel in reverse along a straight path r221 from the stopped position p21 to position p22, which is a predetermined distance away from the work path r16. Then, as shown in Figure 12B, the control device 11 sets a corresponding path r222 that connects from position p22 to the work path r16, and causes the combine harvester 1 to travel forward towards the work path r16 according to the corresponding path r222. This allows the combine harvester 1 to travel to the work path r16 along a gentler turning path.

[0083] The same applies if the combine harvester 1 makes a tighter turn than the reverse turning path r13 and is displaced. Specifically, as shown in Figure 13A, the control device 11 causes the combine harvester 1 to travel in reverse along the straight path r321 from the stopped position p31 to position p32, which is a predetermined distance away from the work path r16. Then, as shown in Figure 13B, the control device 11 sets a countermeasure path r322 that connects from position p32 to the work path r16 and causes the combine harvester 1 to travel forward towards the work path r16 according to the countermeasure path r322. This allows the combine harvester 1 to travel to the work path r16 along a gentler turning path.

[0084] The control device 11 may set the predetermined distance to the distance from the reverse end position p2 to a position on a straight line perpendicular to the extension of the work path r16. Alternatively, the control device 11 may set the predetermined distance such that the turning radius of the turning paths included in the handling paths r222 and r322 is equal to or greater than the predetermined radius.

[0085] Furthermore, in the above configuration, the control device 11 may be configured to cause the combine harvester 1 to move in reverse from positions p21 and p31 when the distance from the stopping positions p21 and p31 to the starting position of the work path r16 is less than a predetermined distance.

[0086] In another embodiment, the control device 11 may cause the combine harvester 1 to reverse from the stopping positions p21 and p31 to the reverse end position p2, and then to move forward toward the work path r16. Specifically, if the amount of positional deviation exceeds the threshold, and the distance from the position of the combine harvester 1 at the point when the vehicle orientation of the combine harvester 1 is within a predetermined angle with respect to the work path r16 to the reverse end position p2 is greater than or equal to a predetermined distance, the control device 11 may cause the combine harvester 1 to reverse to the reverse end position p2 and then move forward toward the work path r16.

[0087] For example, in Figure 12A, if the distance from the stopping position p21 of the combine harvester 1 to the reverse end position p2 is greater than or equal to a predetermined distance, the control device 11 causes the combine harvester 1 to reverse (go straight and turn) towards the reverse end position p2. Then, when the combine harvester 1 reaches the reverse end position p2, the control device 11 stops it, switches to straight-line travel, and allows it to travel straight along the straight-line path r15 into the work path r16. Similarly, in Figure 13A, if the distance from the stopping position p31 of the combine harvester 1 to the reverse end position p2 is greater than or equal to a predetermined distance, the control device 11 causes the combine harvester 1 to reverse (go straight and turn) towards the reverse end position p2. Then, when the combine harvester 1 reaches the reverse end position p2, the control device 11 stops it, switches to straight-line travel, and allows it to travel straight along the straight-line path r15 into the work path r16. The control device 11 sets the predetermined distance to the distance at which the vehicle orientation of the combine harvester 1 is parallel to the work path r16 at the reverse end position p2.

[0088] In other words, the control device 11 may cause the combine harvester 1 to move forward toward the work path r16 after the vehicle orientation of the combine harvester 1 becomes parallel to the work path r16 at the reverse end position p2. This allows the combine harvester 1, which has deviated from the target path, to return to the target path at the reverse end position p2.

[0089] Furthermore, when the combine harvester 1 is moving in reverse from positions p21 and p31, the control device 11 may set the vehicle speed of the combine harvester 1 to a speed slower than the preset vehicle speeds (reverse turning speed and reverse straight speed) for the reverse turning path r13 and the straight path r14. This improves the driving stability of the combine harvester 1 when it is deviated from the target path. The control device 11 may also set the vehicle speed to a speed slower than the preset vehicle speeds (forward speed and reverse speed) for all paths in which the combine harvester 1 is traveling while deviated from the target path.

[0090] In the embodiments described above, the case in which the combine harvester 1 makes a 90-degree turn (change of direction) from work path r11 to work path r16 was given as an example. However, the turning path of the present invention is not limited to this, and the same can be applied when the combine harvester 1 makes a 180-degree turn. For example, if a misalignment of the combine harvester 1 occurs in a reverse turning path included in a 180-degree turning path, the control device 11 can execute the above-mentioned corrective processing. In other words, the present invention can be applied to cases in which the turning travel of the combine harvester 1 when moving between work paths includes a reverse turn.

[0091] Furthermore, the countermeasures of the present invention may include a process of making the combine harvester 1 pivot turn or super pivot turn at a position shifted from the target path in order to move the combine harvester 1 into the work path r16.

[0092] Furthermore, while the above embodiments mention a combine harvester 1 as an example of a work vehicle, the work vehicle of the present invention is not limited to a combine harvester 1, but may be various other work vehicles such as tractors, rice transplanters, and construction machinery. In addition, the work vehicle of the present invention may be a work vehicle that travels manually (manual steering) along a work path and automatically (automatic steering) along a turning path.

[0093] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0094] <Note 1> An automated driving method for automatically driving a work vehicle according to a pre-set target route, The work vehicle is driven along a plurality of work routes included in the target route, which cause the work vehicle to perform predetermined tasks, and a turning route connecting the plurality of work routes. If the work vehicle deviates from the reverse turning path included in the turning path while it is turning in reverse, a corrective process is performed to move the work vehicle into the first work path that follows the turning path. An automated driving method that performs this task.

[0095] <Note 2> If the amount of the positional deviation exceeds a threshold, a countermeasure route is set that is different from the turning route and connected to the first work route, and the work vehicle is made to travel along the countermeasure route. The automatic driving method described in Appendix 1.

[0096] <Note 3> When the amount of the positional deviation exceeds a threshold, and the vehicle orientation of the work vehicle becomes within a predetermined angle with respect to the first work path, the work vehicle is stopped and driven forward toward the first work path. The automatic driving method described in Appendix 1 or 2.

[0097] <Note 4> When the amount of the positional deviation exceeds a threshold, and the vehicle orientation of the work vehicle becomes parallel to the first work path, the work vehicle is stopped and driven forward toward the first work path. The automatic driving method described in any of the appendices 1 to 3.

[0098] <Note 5> If the amount of the positional deviation exceeds a threshold, and the vehicle orientation of the work vehicle becomes within a predetermined angle with respect to the first work path, the work vehicle is made to move backward for a predetermined distance parallel to the first work path, and then move forward toward the first work path. The automatic driving method described in any of the appendices 1 to 4.

[0099] <Note 6> If the amount of the positional deviation exceeds a threshold, and the distance from the position of the work vehicle at the point when the vehicle orientation of the work vehicle is within a predetermined angle with respect to the first work path to the end position of the turning path is greater than or equal to a predetermined distance, the work vehicle is driven in reverse to the end position and then driven forward toward the first work path. The automatic driving method described in any of the appendices 1 to 5.

[0100] <Note 7> The work vehicle is moved forward toward the first work path after its orientation at the end position becomes parallel to the first work path. The automatic driving method described in Appendix 6.

[0101] <Note 8> When the work vehicle is to travel in reverse for the predetermined distance, the vehicle speed of the work vehicle is set to a speed slower than the pre-set vehicle speed relative to the reverse turning path. The automatic driving method described in Appendix 6 or 7. [Explanation of Symbols]

[0102] 1: Combine harvester (work vehicle) 3: Operating terminal 10: Automated driving system 11: Control device 31: Operation Control Unit 111: Driving section 112: Acquisition Processing Unit 113: Processing Unit 311: Configuration Processing Unit 312: Output Processing Unit F: Field r11: Work Route r12: Straight route r13: Reverse turning path r14: Straight route r15: Straight route r16: Work route (First work route) r21: Driving route r211: Response route r221: Straight route r222: Response route r223: Response route r31: Driving route r311: Response route r321: Straight route r322: Response route r323: Response route

Claims

1. An automated driving method for automatically driving a work vehicle according to a pre-set target route, The work vehicle is driven along a plurality of work routes included in the target route, which cause the work vehicle to perform predetermined tasks, and a turning route connecting the plurality of work routes. When the vehicle orientation of the work vehicle comes within a predetermined angle with respect to the first work path that follows the turning path while the work vehicle is turning in reverse, the work vehicle is to be made to move forward toward the first work path. An automated driving method that performs this task.

2. From the position of the work vehicle at the point when the vehicle orientation of the work vehicle becomes within the predetermined angle with respect to the first work path while the work vehicle is turning in reverse, the work vehicle is made to move in reverse to the end position of the reverse straight path that follows the reverse turning path included in the turning path while the work vehicle is turning in reverse, and then to move forward toward the first work path. The automatic driving method according to claim 1.

3. If the vehicle orientation of the work vehicle comes within the predetermined angle with respect to the first work path while the work vehicle is turning in reverse, the work vehicle is made to move in reverse for a predetermined distance parallel to the first work path, and then move forward toward the first work path. The automatic driving method according to claim 1.

4. An automated driving system that automatically drives a work vehicle according to a pre-set target route, The work vehicle is driven along a plurality of work paths included in the target path, which cause the work vehicle to perform predetermined tasks, and a turning path connecting the plurality of work paths. An automatic driving system that, when the vehicle orientation of the work vehicle comes within a predetermined angle with respect to the first work path that follows the turning path while the work vehicle is turning in reverse, causes the work vehicle to move forward toward the first work path.

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