Control systems, harvesters, control methods, computer programs, and non-temporary storage media

Abstract

This reduces soil disturbance that can occur due to the turning of the harvesting machine. [Solution] The control system includes a control device that controls the automatic operation of a harvester that performs reciprocating harvesting, and controls the turning motion during reciprocating travel according to a turning radius selected by the user from a plurality of different turning radii, and a positioning device that acquires the position information of the harvester in the field. The turning motion includes turning travel and reversing travel, as controlled by the control system.

Description

Technical Field

[0001] The present disclosure relates to a control system, a harvesting machine, a control method, a computer program, and a non-transitory storage medium.

Background Art

[0002] A combine harvester (hereinafter referred to as "combine") capable of traveling by automatic driving has been developed. The combine automatically travels around the field and harvests the crops in the field. Examples of the types of circular travel include α-turn circular travel and U-turn circular travel. The α-turn circular travel and the U-turn circular travel are respectively called "peripheral harvesting travel" and "reciprocating harvesting travel". Patent Document 1 describes a technique for generating a travel route for peripheral harvesting travel or reciprocating harvesting travel according to the lodging state of crops.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In reciprocating harvesting travel, a turning area for the combine to turn is provided outside the area where the crops are harvested. When the combine turns in the turning area, there is a problem that the soil becomes rough. The combine includes a traveling device including crawlers. Therefore, for example, due to the difference in the rotation direction or rotation speed of the left and right crawlers, the soil is likely to be lifted during turning.

[0005] An embodiment of the present invention provides a control system for controlling the automatic driving of a harvesting machine, which can reduce the roughness of the soil caused by the turning of the harvesting machine.

Means for Solving the Problems

[0006] This disclosure provides solutions as described in the following items.

[0007] [Item 1] A control system for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting, A control device that controls the turning motion during reciprocating travel according to the turning radius selected by the user from among several different turning radii, A positioning device that acquires location information of the harvesting machine in the field, Equipped with, The aforementioned turning motion is a control system that includes turning and reversing movements.

[0008] [Item 2] The control device is Depending on the turning radius selected by the user, one turning pattern is determined from among multiple turning patterns, each with a different turning motion. The control system according to item 1, which controls the turning motion according to the determined turning pattern.

[0009] [Item 3] The control system according to item 2, wherein the plurality of turning patterns include a first turning pattern that moves the harvester between adjacent travel paths among the plurality of travel paths by turning, and a second turning pattern that moves the harvester between two travel paths with one or more travel paths in between.

[0010] [Item 4] The control system according to item 2 or 3, wherein the control device determines, based on the selected turning radius and the position information of the harvester, the travel path that the harvester will turn and enter next from among a plurality of travel paths along the rows in the field.

[0011] [Item 5] The harvesting machine is capable of harvesting 6 to 12 rows. The control system according to any one of Items 1 to 4, wherein each of the plurality of turning radii is 2.5 m or more and 5.0 m or less.

[0012] [Item 6] The control system according to any one of Items 1 to 5, comprising a terminal device that enables the user to set one of the plurality of turning radii.

[0013] [Item 7] The control device includes one or more processors and one or more memories that store a program for controlling the operation of the one or more processors, and the one or more processors control the turning operation according to the turning radius selected by the user according to the program, the control system according to Item 1.

[0014] [Item 8] The control system according to any one of Items 1 to 7, and a harvesting device for harvesting crops, a harvester comprising the same.

[0015] [Item 9] A control method for controlling the automatic operation of a harvester that performs reciprocating cutting, the method including controlling a turning operation during reciprocating travel according to a turning radius selected by a user from a plurality of different turning radii, wherein the turning operation includes turning travel and turning-back travel.

[0016] [Item 10] A control device configured to execute the method according to Item 9.

[0017] [Item 11] A computer program including a set of instructions for causing a computer to execute the method according to Item 9.

[0018] [Item 12] A computer-readable non-transitory storage medium storing a computer program including instructions for causing a computer to execute the method according to item 9.

[0019] [Item 13] A control device for controlling the automatic operation of a harvester that performs reciprocating mowing, An acquisition unit that acquires a turning radius selected by a user from a plurality of different turning radii; A control unit that controls a turning operation during reciprocating travel according to the turning radius; A control device comprising:

[0020] [Item 14] The control device according to item 13, A positioning device that acquires position information of the harvester in a field, A system comprising:

[0021] The comprehensive or specific aspect of the present invention can be realized by a device, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. The device may be composed of a plurality of devices. When the device is composed of two or more devices, the two or more devices may be arranged in one device or may be separately arranged in two or more separate devices.

Advantages of the Invention

[0022] According to an embodiment of the present invention, there is provided a control system for controlling the automatic operation of a harvester that can reduce soil erosion that may be caused by the turning of the harvester.

Brief Description of the Drawings

[0023] [Figure 1] A side view schematically showing an example of a harvester according to an exemplary embodiment of the present invention. [Figure 2]This is a block diagram showing an example configuration of a harvesting machine according to an exemplary embodiment of the present invention. [Figure 3] This diagram schematically shows an example of a route for round-trip mowing using autonomous driving. [Figure 4] This is a schematic diagram showing an example of an image displayed on the terminal device's screen. [Figure 5A] This diagram schematically illustrates an example of a turning motion using the first turning pattern. [Figure 5B] This diagram schematically illustrates another example of turning motion using the first turning pattern. [Figure 5C] This diagram schematically illustrates an example of a turning motion using the second turning pattern. [Figure 6] This is a schematic diagram illustrating the process of determining the next travel path based on the selected turning radius and the position information of the harvester. [Figure 7] This is a schematic diagram showing another example of a travel route for back-and-forth mowing. [Figure 8] This flowchart shows an example of a control procedure for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting. [Modes for carrying out the invention]

[0024] (Definition of terms) "Automated driving" means controlling the movement of agricultural machinery, such as harvesters, through the operation of a control device, without manual operation by a driver. Agricultural machinery that performs automated driving is sometimes called "autonomous farm machinery" or "robot farm machinery." During automated driving, not only the movement of the agricultural machinery but also the operation of the work may be controlled automatically. The movement of agricultural machinery by automated driving is called "autonomous driving." The control device can control at least one of the following necessary functions of the agricultural machinery's movement: steering, adjustment of movement speed, starting and stopping of movement. Movement by automated driving may include not only movement of agricultural machinery along a predetermined path toward a destination but also movement following a tracking target. Agricultural machinery that performs automated driving may move partially based on user instructions. In addition to the automated driving mode, agricultural machinery that performs automated driving may also operate in a manual driving mode in which it is moved by manual operation by a driver. Steering of agricultural machinery by the operation of a control device without manual operation is called "automatic steering." Part or all of the control device may be located outside the agricultural machinery. Communication, such as control signals, commands, or data, may take place between the agricultural machinery and a control device located outside the agricultural machinery. Autonomous agricultural machinery may move autonomously while sensing the surrounding environment, without human intervention in controlling its movement. Autonomous agricultural machinery can travel unmanned within or outside the field (e.g., on roads). Obstacle detection and obstacle avoidance maneuvers may be performed during autonomous movement.

[0025] One example of a “control device” in this disclosure is a computing device comprising at least one processor and at least one memory for storing a computer program (code) that defines a control process performed by the processor. Another example of a “control device” is a computing device comprising a hardware accelerator such as an FPGA (Field-Programmable Gate Array), ASSP (Application Specific Standard Product), or ASIC (Application-Specific Integrated Circuit) configured to perform the control process.

[0026] In this disclosure, “processor” refers to hardware electronic circuits such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). “Memory” refers to hardware electronic circuits such as ROM (Read Only Memory) or RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and associated component within the electronic circuit may be manufactured individually as separate integrated circuit chips, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0027] A program that defines the operation of the processor is implemented as software or firmware and is designed to include a set of instructions that cause the processor to perform one or more functions, operations, steps, or processes in embodiments of the present invention.

[0028] Embodiments of the present invention will be described below. However, unnecessarily detailed descriptions may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present invention, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals.

[0029] The following embodiments are illustrative examples for realizing the technical concept of the present invention, and the present invention is not limited to these embodiments. For example, the numerical values, shapes, materials, steps, and order of steps shown in the following embodiments are merely examples, and various modifications are possible as long as they do not create a technical inconsistency. Furthermore, it is possible to combine one embodiment with other embodiments. The size and positional relationships of the components shown in each drawing may be exaggerated for ease of understanding.

[0030] First, the configuration and function of a harvesting machine in an exemplary embodiment of the present invention will be described with reference to Figures 1 and 2.

[0031] Figure 1 is a schematic side view showing an example of a harvester. The example of harvester 100 is a conventional combine harvester or a self-propelled combine harvester. The harvester 100 illustrated in Figure 1 is a conventional combine harvester. Harvester 100 performs tasks such as cutting crops, threshing the cut crops, and discharging the harvested material after threshing in a field. Crops are plants from which grains such as rice, wheat, corn, and soybeans can be harvested. The symbols F, B, U, and D shown in Figure 1 represent front, back, top, and bottom, respectively.

[0032] The harvester 100 comprises a body 101 and a running gear 102. The running gear 102 illustrated in Figure 1 is equipped with multiple wheels (crawlers) fitted with tracks. The running gear 102 may also be equipped with wheels with tires instead of crawlers. A cabin 110 is provided above the body 101.

[0033] At the front of the traveling device 102, a harvesting device 103 for cutting crops is provided with adjustable height. Above the harvesting device 103, a reel 109 for raising the stems of crops is provided with adjustable height. At the rear of the cabin 110, a threshing device 105 and a tank 106 for storing harvested materials are arranged side by side in the left-right direction. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested materials such as grains obtained by threshing. At the rear of the threshing device 105, a straw disposal device 108 is provided. The straw disposal device 108 finely cuts the stems and other parts after the harvested materials such as grains have been removed and discharges them to the outside.

[0034] A conveying device 104 for transporting the harvested crop is provided between the harvesting device 103 and the threshing device 105. The tank 106 is equipped with a discharge device 107 for discharging the harvested material from the tank 106. The harvested material is discharged to the outside from a discharge port 117 at the tip of the cylindrical discharge device 107. The discharge device 107 is capable of raising and lowering and rotating movements, and the position of the discharge port 117 can be changed. The configuration and operation of the various devices that perform the harvesting operation, such as the harvesting device 103, conveying device 104, threshing device 105, discharge device 107, straw disposal device 108, and reel 109, are well known, so a detailed explanation of them is omitted here.

[0035] In this embodiment, the harvester 100 can operate in both manual and automatic modes. In automatic mode, the harvester 100 can travel unmanned while performing the operation of harvesting crops in the field.

[0036] As shown in Figure 1, the harvester 100 is equipped with a prime mover (engine) 111 and a transmission 112. Inside the cabin 110 are a driver's seat, operating levers, an operating terminal (terminal monitor), and a group of switches for operation.

[0037] The harvester 100 is equipped with multiple sensing devices for sensing the environment around the harvester 100. In the example shown in Figure 1, the multiple sensing devices include a laser sensor 125, multiple cameras 126, and multiple millimeter-wave radars 127.

[0038] The laser sensor 125 is a distance measuring device capable of measuring the distance to a reflection point by emitting laser light and detecting the reflected light, and is also called a LiDAR sensor. By changing the direction of the emitted laser light, the laser sensor 125 can obtain information on the distance distribution to surrounding features. The laser sensor 125 illustrated in Figure 1 is located at the front of the harvester 100. The laser sensor 125 may also be provided at the side or rear of the harvester 100. The laser sensor 125 may include a light source that generates laser light, a detector that detects reflected light, and a processing circuit that processes the detected reflected light signal. The laser sensor 125 may also include a beam scanner that changes the direction of the emitted light beam. The laser sensor 125 may be configured to generate sensor data such as point cloud data indicating the distance and direction to each measurement point of an object in the environment surrounding the harvester 100, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the laser sensor 125 is processed by the control device of the harvester 100. The control device measures the height or degree of lodging of crops around the harvester 100 based on sensor data, and can adjust the height of the harvesting device 103 or the vehicle speed according to the height or degree of lodging of the crops. Point cloud data output from the laser sensor 125 can also be used to detect objects.

[0039] Camera 126 is an example of an imaging device that photographs the environment around the harvesting machine 100 and generates image data. Camera 126 may be installed, for example, on the front, back, left, and right sides of the harvesting machine 100. The images acquired by camera 126 are sent to a control device mounted on the harvesting machine 100. These images are used to detect obstacles such as people present around the harvesting machine 100 during autonomous operation through image processing.

[0040] The millimeter-wave radar 127 is a sensor for detecting metal objects such as vehicles present in the vicinity of the harvesting machine 100. In the example shown in Figure 1, two millimeter-wave radars 127 are provided at the front and rear of the harvesting machine 100. The millimeter-wave radars 127 may also be located at other parts of the harvesting machine 100, such as the sides.

[0041] The harvester 100 further includes a GNSS unit 120. The GNSS unit 120 includes a GNSS receiver and functions as a positioning device that acquires positioning data for the harvester 100. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 120 is located on top of the cabin 110, but it may be located in other locations.

[0042] The GNSS unit 120 may include an inertial measuring unit (IMU). The signal from the IMU can be used to supplement the position data. The IMU can measure the tilt and minute movements of the harvester 100. By using the data acquired by the IMU to supplement the position data based on satellite signals, the positioning performance can be improved. The IMU may be located at a different location from the GNSS unit 120.

[0043] The prime mover 111 is, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 112 can change the thrust and speed of the harvester 100 by shifting gears. The transmission 112 can also switch the harvester 100 between forward and reverse.

[0044] In a configuration where the harvester 100 is equipped with a crawler-type running device 102, the direction of travel of the harvester 100 can be changed by making the rotation speeds of the left and right wheels, which are fitted with continuous tracks, different from each other, or by making the rotation directions of the left and right wheels different from each other.

[0045] The harvester 100 shown in Figure 1 is capable of human operation, but may also be designed for unmanned operation only. In that case, components necessary only for human operation, such as the cabin 110 and the driver's seat, do not need to be provided in the harvester 100. The unmanned harvester 100 can be driven autonomously or by remote control by a user.

[0046] Figure 2 is a block diagram showing an example configuration of the harvesting machine 100. The harvesting machine 100 illustrated in Figure 2 includes a GNSS unit 120, a laser sensor 125, a camera 126, a millimeter-wave radar 127, a terminal monitor 131, a group of operation switches 132, a buzzer 133, a drive unit 140, a power transmission mechanism 141, a light 142, a group of sensors 150, a control unit 160, and a communication device 190. These components are connected to each other via a bus so that they can communicate with one another.

[0047] The GNSS unit 120 includes a GNSS receiver 121, an RTK receiver 122, an IMU 123, and a processing circuit 124. The sensor group 150 includes various sensors such as a vehicle speed sensor 151 and an illuminance sensor 152. The control unit 160 includes a storage device 164 and electronic control units (ECUs) 165, 166, and 167. Figure 1 shows the components that are relatively highly relevant to the operation of the harvester 100's automatic driving function, and other components are not shown.

[0048] The GNSS receiver 121 of the GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0049] The GNSS unit 120 illustrated in Figure 1 is capable of positioning the harvester 100 using RTK (Real Time Kinematic)-GNSS. Note that the positioning method is not limited to RTK-GNSS; any positioning method that can obtain the necessary accuracy of position data (such as interferometric positioning or relative positioning) can be used. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station can be installed near the field where the harvester 100 operates (for example, within 10 km of the harvester 100). The reference station generates a correction signal, for example in RTCM format, based on the satellite signals received from multiple GNSS satellites and transmits it to the GNSS unit 120. The RTK receiver 122 includes an antenna and a modem and receives the correction signal transmitted from the reference station. The processing circuit 124 of the GNSS unit 120 corrects the positioning result from the GNSS receiver 121 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of a few centimeters. Position data including latitude, longitude, and altitude information is acquired by high-precision positioning using RTK-GNSS. The GNSS unit 120 calculates the position of the harvester 100 at a frequency of, for example, 1 to 10 times per second.

[0050] The IMU123 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU123 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU123 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the harvester 100. The processing circuit 124 can estimate the position and orientation of the harvester 100 with higher accuracy based on the signals output from the IMU123, in addition to the satellite signals and correction signals. The signals output from the IMU123 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU123 outputs signals at a higher frequency than the GNSS receiver 121. Using these high-frequency signals, the processing circuit 124 can measure the position and orientation of the harvester 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU123, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. Also, the IMU123 may be provided as a separate device from the GNSS unit 120. The IMU123 acts as a tilt sensor that measures the amount of inclination (e.g., pitch angle, roll angle, yaw angle) of the harvester 100 relative to its reference posture.

[0051] Camera 126 is an example of an imaging device that captures the environment around the harvesting machine 100. Camera 126 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 126 may also include an optical system including one or more lenses and a signal processing circuit. While the harvesting machine 100 is running, Camera 126 captures the environment around the harvesting machine 100 and generates image (e.g., video) data. Camera 126 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by Camera 126 are used, for example, to detect obstacles such as people. The images generated by Camera 126 may also be used for positioning or remote monitoring. Multiple cameras 126 may be installed at different locations on the harvesting machine 100, or only one camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be installed separately. Both a visible light camera and an infrared camera may be installed. Infrared cameras can be used to detect obstacles at night.

[0052] The millimeter-wave radar 127 is provided to detect obstacles, including metal objects such as vehicles, that are present around the harvesting machine 100. The millimeter-wave radar 127 outputs a signal indicating the presence of an obstacle when an object is closer than a predetermined distance from the millimeter-wave radar 127. As shown in Figure 1, multiple millimeter-wave radars 127 may be provided at different locations around the harvesting machine 100. By providing multiple millimeter-wave radars 127, blind spots in monitoring obstacles around the harvesting machine 100 can be reduced.

[0053] The buzzer 133 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 133 emits a warning sound when an obstacle is detected during autonomous driving. The buzzer 133 is controlled by the control unit 160.

[0054] The drive unit 140 includes various devices necessary for driving the harvester 100, such as the prime mover 111 and the transmission 112. The prime mover 111 may be an internal combustion engine, such as a diesel engine. The drive unit 140 may also be equipped with an electric motor for traction, either in place of the internal combustion engine or in conjunction with it.

[0055] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform harvesting operations. These devices include a cutting device 103, a conveying device 104, a threshing device 105, a discharge device 107, a straw disposal device 108, a reel 109, etc. The harvester 100 may also be equipped with a power source (such as an electric motor) separate from the prime mover 111 to supply power to at least one of these harvesting devices.

[0056] Light 142 is a device that illuminates the area around the harvester 100, such as a headlight or work light. Multiple lights 142 may be mounted on the harvester 100. Light 142 includes one or more light sources. Each light source may be, for example, a light-emitting diode (LED), a halogen lamp, or a xenon lamp.

[0057] The vehicle speed sensor 151 is a sensor that measures the travel speed of the harvester 100. The vehicle speed sensor 151 measures, for example, the rotational speed of the wheels or axles and calculates the vehicle speed based on the measured value. The illuminance sensor 152 is a sensor that measures the illuminance of the surrounding environment and may be located outside or inside the cabin of the harvester 100.

[0058] The storage device 164 includes one or more storage media, such as flash memory or a magnetic disk. The storage device 164 stores various data generated by the GNSS unit 120, laser sensor 125, camera 126, millimeter-wave radar 127, sensor group 150, and ECUs 165, 166, and 167. The data stored in the storage device 164 may include map data of the area including the field where agricultural work is performed by the harvesting machine 100, and data of the driving route (or target route) for autonomous driving.

[0059] The ECU165 controls the overall operation of the harvester 100. The ECU165 controls the operation of the harvester 100 by controlling the prime mover 111, transmission 112, running gear 102, power transmission mechanism 141, etc., which are included in the drive unit 140.

[0060] The ECU 166 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 120, laser sensor 125, camera 126, millimeter-wave radar 127, and sensor group 150. For example, the ECU 166 determines the position and orientation of the harvester 100 based on the data output from the GNSS unit 120. During autonomous driving, the ECU 166 performs calculations necessary for the harvester 100 to travel along a set travel path based on its position and orientation. The ECU 166 may also perform a process to generate a travel path from the starting point to the destination point of the harvester 100's movement.

[0061] The ECU 167 performs a process to detect specific objects (e.g., people) located around the harvester 100 based on images acquired by the camera 126. In this embodiment, the ECU 167 is an edge computing device mounted on the harvester 100, but at least part of the functions of the ECU 167 may be performed by a computer outside the harvester 100 (e.g., a server computer in the cloud).

[0062] These ECUs enable the control unit 160 to perform automatic driving and crop harvesting operations. During automatic driving, the control unit 160 controls the drive unit 140 based on the measured position and orientation of the harvester 100 and the travel path. This allows the control unit 160 to move the harvester 100 along the travel path.

[0063] Multiple ECUs included in the control unit 160 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 2, ECUs 165, 166, and 167 are shown as separate blocks, but the functions of each of these may be realized by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 165, 166, and 167 may be provided. The control unit 160 may also include ECUs other than ECUs 165, 166, and 167, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0064] The communication device 190 is a device that includes a circuit for communicating with an external device. The communication device 190 includes a circuit for wireless communication. The communication device 190 may include an antenna and communication circuit for transmitting and receiving signals over a network, for example, with an external terminal device or an external server computer. The network may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the Internet. The communication device 190 may also have the function of communicating with a mobile terminal used by a monitor near the harvester 100. Communication with such a mobile terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth®.

[0065] The terminal monitor 131 is a terminal for the user to perform operations related to the operation and driving of the harvester 100, and is also called a virtual terminal (VT). The terminal monitor 131 may be equipped with a display device such as a touchscreen and / or one or more buttons. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). By operating the terminal monitor 131, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing field map data, setting the driving route, setting the crop type, and setting the type of work. At least some of these operations can also be achieved by operating the operation switch group 132. The terminal monitor 131 may be configured to be detachable from the harvester 100. A user located away from the harvester 100 may control the operation of the harvester 100 by operating the detached terminal monitor 131. Alternatively, the user may control the operation of the harvester 100 by operating a computer with the necessary application software installed instead of the terminal monitor 131.

[0066] The operation switch group 132 includes a plurality of switches for operating the harvester 100. In this specification, “switch” broadly means a device used by the driver for operation, such as levers, pedals, and buttons. The operation switch group 132 may include, for example, a switch for switching between automatic driving mode and manual driving mode, a switch for switching between forward and reverse, an accelerator pedal, a brake pedal, a lever for switching gears, a switch for switching the lights on and off, a power steering lever, and the like.

[0067] The control system in this embodiment is a system for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting. The control system comprises a control device that controls the turning operation during reciprocating travel, including turning and turning, according to a turning radius selected by the user from a plurality of different turning radii, and a positioning device that acquires the position information of the harvesting machine in the field.

[0068] The control unit 160 shown in Figure 2 functions as a control device for the control system. Specifically, component 166 included in the control unit 160 can function as a control device. Thus, in the example shown in Figure 2, the GNSS unit 120 and the control unit 160 constitute a control system that controls the automatic operation of the harvester 100 that performs reciprocating harvesting.

[0069] Figure 3 is a schematic diagram illustrating an example of a travel path for automatic reciprocating harvesting. The field 300 shown in Figure 3 includes a work area 310 for cutting and harvesting crops, and a turning area 320 located outside the work area 310. The turning area 320 is the area reserved for the harvester 100 to turn during reciprocating harvesting. Within the work area 310, multiple travel paths for automatic operation are set along the rows of crops. In the example shown in Figure 3, eight travel paths L1 to L8 are shown. The harvester 100 performs crop harvesting while automatically traveling in a straight line along the set travel paths L1 to L8.

[0070] In this embodiment, the harvester 100 can harvest, for example, 6 to 12 rows. The harvesting width of the harvester 100 is, for example, 2m. In this example, the control device generates multiple travel paths such that the distance between adjacent travel paths is, for example, 1.8m. By making the distance between adjacent travel paths narrower than the harvesting width, it becomes possible to create overlap between adjacent work areas, which leads to a reduction in unharvested areas.

[0071] The harvester 100 performs crop harvesting by traveling back and forth within the field 300, repeatedly traveling in a straight line along the travel path and turning to enter the next travel path. In the example shown in Figure 3, the harvester 100 starts traveling from the starting point S of the back-and-forth harvesting, and travels in the order of the travel paths L1, L3, L5, L7, L8, L6, L4, and L2 set in the work area 310, repeatedly traveling in a straight line and turning, until it reaches the ending point E of the back-and-forth harvesting.

[0072] The control device is configured to control the turning motion during reciprocating travel according to the turning radius selected by the user from among several different turning radii. Specifically, the control device may be configured to determine one turning pattern from among several turning patterns, each with a different turning motion, according to the turning radius selected by the user, and to control the turning motion according to the determined turning pattern.

[0073] The turning radius is approximately equal to half the distance perpendicular to the track, from the starting point of the outward journey at the start of the turn to the ending point of the return journey at the end of the turn, in the two travel paths that define the outward and return journeys of the round trip route. However, strictly speaking, the turning radius refers to the radius of the circle traced by the center of the outer crawler during the turn.

[0074] In this embodiment, the turning radius of the harvester 100 is determined to be greater than the distance between adjacent travel paths. For example, suppose that each of the multiple travel paths is set at an interval of 1.8 m. In this case, the turning radius of the harvester 100 is set to a range of, for example, 2.5 m or more and 5.0 m or less. The user can select a desired turning radius from this range.

[0075] The terminal device may allow the user to set one turning radius from among several turning radii. In this embodiment, the terminal monitor 131 shown in Figure 2 functions as the terminal device.

[0076] Figure 4 is a schematic diagram showing an example of an image displayed on the terminal device's display. Figure 4 shows an example of an image displayed on the touchscreen of the terminal monitor 131. The image 500 displayed on the touchscreen includes an image 510 displaying various setting items and an image 520 of a field map. Image 510 includes a display 511 that allows setting the turning radius. For example, the user can change the turning radius in 0.5m increments within a range of, for example, 2.5m to 5.0m by operating the touchscreen of the terminal monitor 131. As another example, an image that functions as an input interface for setting the turning radius may be displayed on the display of the user's mobile device. In this way, it is possible to allow the user to select a desired turning radius from among multiple turning radii.

[0077] In this embodiment, the turning motion of the harvester 100 includes turning and reversing motion. Furthermore, there are multiple turning patterns, each with a different turning motion. These multiple turning patterns include a first turning pattern and a second turning pattern.

[0078] Figure 5A is a schematic diagram illustrating an example of a turning motion using the first turning pattern. The first turning pattern is a pattern for moving the harvester 100 between adjacent travel paths among multiple travel paths by turning. In the example shown in Figure 5A, travel paths L1, L2, and L3 are shown, and the harvester 100 moves from travel path L1 to travel path L2, which is adjacent to travel path L1. The travel path using the first turning pattern shown in Figure 5A includes a turning path P1, and reversing paths P2 and P3. The harvester 100 starts the turning motion from a starting point S on travel path L1, turns along the turning path P1 in a direction away from travel path L2, and reaches point Q1. Upon reaching point Q1, the harvester 100 starts reversing, moves backward along the reversing path P2, and then moves forward to point Q2 where it can enter travel path L2, thereby changing the orientation of the harvester 100. The harvester 100 moves forward along the turning path P3 and completes its turning motion when it reaches the end point E on the travel path L2. Hereafter, the first turning pattern shown in Figure 5A will be referred to as "turning pattern A".

[0079] Figure 5B schematically shows another example of a turning motion according to the first turning pattern. In the example shown in Figure 5B, travel paths L1, L2, and L3 are shown, and the harvester 100 moves from travel path L1 to travel path L2 adjacent to travel path L1, similar to turning pattern A. Hereafter, the first turning pattern shown in Figure 5B will be referred to as "turning pattern B". The travel path according to turning pattern B includes a turning path P1, and turning paths P2 and P3. The harvester 100 starts the turning motion from a starting point S on travel path L1, turns along turning path P1 in the direction of approaching travel path L2, and reaches point Q1. Upon reaching point Q1, the harvester 100 starts turning and moves backward along turning path P2 to point Q2. The harvester 100 turns along turning path P3 toward travel path L2, and ends the turning motion when it reaches the end point E on travel path L2. In this example, the turning radius is the same when turning along turning path P1 and when turning along turning path P3.

[0080] The turning radius during a turning operation using turning pattern A or B shown in Figure 5A or Figure 5B is approximately equal to half the distance between the two travel paths L1 and L2, which define the outward and return journeys of the round trip, from the starting point S on travel path L1 to the ending point E on travel path L2.

[0081] When a turning radius of, for example, 2.5 m is selected, the control device determines either turning pattern A or B from among several turning patterns and controls the turning motion of the harvester 100 according to turning pattern A or B. In this way, the control device moves the harvester 100 between adjacent travel paths with a turning radius larger than the distance between adjacent travel paths. This type of control makes it possible to reduce soil disturbance that may occur due to the turning of the harvester 100.

[0082] Figure 5C is a schematic diagram illustrating an example of a turning motion using the second turning pattern. The second turning pattern is a pattern for moving the harvester 100 between two travel paths, with one or more travel paths in between, by turning. In the example shown in Figure 5C, travel paths L1, L2, and L3 are shown, and the harvester 100 moves between travel paths L1 and L3 by turning, skipping travel path L2. The travel path using the second turning pattern shown in Figure 5C includes a turning path P1, and turning paths P2 and P3. The harvester 100 starts the turning motion from a starting point S on travel path L1, turns along the turning path P1 toward travel path L3, and reaches point Q1. Point Q1 is located beyond the ending point E in the direction perpendicular to the row, with respect to the starting point S. When the harvester 100 reaches point Q1, it begins to reverse direction, moving backward along the reversing path P2, and then forward to point Q2 where it can enter the travel path L3, thereby changing the orientation of the harvester 100. The harvester 100 moves forward along the reversing path P3, and when it reaches the end point E on the travel path L3, it completes its turning motion. Hereafter, the second turning pattern shown in Figure 5C will be referred to as "turning pattern C".

[0083] When a turning radius of, for example, 3.5m is selected, the control device determines turning pattern C from among several turning patterns and controls the turning motion of the harvester 100 according to turning pattern C. In this way, the control device moves the harvester 100 between two travel paths with one or more travel paths in between, using a turning radius larger than the distance between adjacent travel paths. This type of control makes it possible to reduce soil disturbance that may occur due to the turning of the harvester 100.

[0084] The turning radius during the turning operation using turning pattern C shown in Figure 5C is approximately equal to a distance that is longer than half the distance between the two travel paths L1 and L3, and shorter than the distance between the two travel paths L1 and L3, which define the outward and return journeys of the round trip route, from the starting point S on travel path L1 to the ending point E on travel path L3.

[0085] Figure 5C shows the travel path when a harvester turns from travel path L1 to L3 using a conventional U-turn, indicated by a dotted line. Conventional U-pattern turning operations do not involve reverse driving. The turning radius during a U-turn is not selectable by the user and is fixed to a predetermined value (e.g., 3m). In this case, the difference in the rotation direction of the left and right crawlers of the harvester makes it easy for soil to pile up during turning. Also, when the harvester is made to perform a turning operation without reverse driving, an increase in the width of the turning area 320 in the direction in which the travel path extends (up and down direction in Figure 5C) was unavoidable. On the other hand, according to the embodiment of the present invention, the turning radius is selectable by the user, and by performing a turning operation with reverse driving using a turning radius larger than the conventional turning radius, it is possible to reduce soil disturbance that may occur due to the turning of the harvester. Furthermore, by relatively increasing the turning radius and relatively decreasing the turning curvature compared to the conventional method, it is possible to reduce the increase in the width of the turning area in the direction in which the travel path extends. In other words, it becomes possible to narrow the turning area in the direction in which the travel path extends. This makes it possible to improve the efficiency of the mowing work required to form the turning area, which will be discussed later.

[0086] The control device in this embodiment may be configured to determine, based on the selected turning radius and the position information of the harvester, which of a plurality of travel paths along the rows in the field will the harvester turn and enter next.

[0087] Figure 6 is a schematic diagram illustrating the process of determining the next travel path to enter based on the selected turning radius and the position information of the harvester. Eight travel paths L1 to L8 are set in the field 300 illustrated in Figure 6. The harvester 100 travels in a straight line along travel path L1 and starts turning from point S on travel path L1. As an example, the control device determines whether the harvester 100 is approaching point S from the position information obtained from the positioning device. When the control device determines that the harvester 100 has reached point S, it may determine the next travel path for the harvester 100 to enter after turning, from among the multiple travel paths L2 to L8, based on the selected turning radius and the position information of the harvester 100. The turning radius may be selected by the user, for example, before starting a back-and-forth harvesting run.

[0088] When the user selects a first turning radius (e.g., 2.5m), the control device determines travel path L2 from among a plurality of travel paths L2 to L8 as the travel path that the harvester 100 will turn and enter next, based on the first turning radius and position information indicating point S. In this case, the control device selects turning pattern A or B from among a plurality of turning patterns and controls the turning operation of the harvester 100 according to turning pattern A or B to move the harvester 100 into point R1 on travel path L2. The control device may generate a travel path during the turning operation that connects point S and point R1 according to turning pattern A or B.

[0089] If the user selects a second turning radius (e.g., 3.0m) that is larger than the first turning radius, the control device determines a travel path L3 from among multiple travel paths L2 to L8 as the next travel path that the harvester 100 will enter after turning, based on the second turning radius and position information indicating point S. In this case, the control device selects a turning pattern C from among multiple turning patterns and controls the turning motion of the harvester 100 according to turning pattern C to move the harvester 100 into point R2 on travel path L3. The control device can generate a travel path during the turning motion that connects point S and point R2 according to turning pattern C.

[0090] If the user selects a third turning radius (e.g., 4.0m) that is larger than the second turning radius, the control device determines a travel path L4 from among multiple travel paths L2 to L8 as the travel path that the harvester 100 will turn and enter next, based on the third turning radius and position information indicating point S. In this case, the control device selects a turning pattern C from among multiple turning patterns and controls the turning motion of the harvester 100 according to turning pattern C to move the harvester 100 into point R3 on travel path L4. The control device can generate a travel path during the turning motion that connects point S and point R3 according to turning pattern C.

[0091] Refer again to Figure 3. The travel path connecting the starting point S and ending point E of the reciprocating harvesting run, as illustrated in Figure 3, includes turning paths according to turning patterns A and B. When the harvester 100 reaches the starting point of the turning operation, the control device can sequentially determine which turning pattern to use to turn the harvester 100, and generate a turning path according to the determined turning pattern. Alternatively, the control device can generate a turning path according to a turning pattern determined before the start of the reciprocating harvesting run, based on the turning radius selected by the user and the distance between adjacent travel paths.

[0092] Figure 7 is a schematic diagram showing another example of a travel path for back-and-forth mowing. Five travel paths L1 to L5 are set in the field 300 shown in Figure 7. The travel path connecting the start point S and end point E of the back-and-forth mowing includes a turning path according to turning pattern B, but does not include a turning path according to turning pattern A. The travel path set in the upper turning region 320U of the turning region 320 is generated based on turning pattern C, which moves between two travel paths with two travel paths in between, while the travel path set in the lower turning region 320D of 320 is generated based on turning pattern C, which moves between two travel paths with one travel path in between. The control device can generate the travel paths set in the upper turning region 320U and the lower turning region 320D, respectively, based on the same turning radius selected by the user. In this embodiment, the turning radius of the turning operation in the upper turning region 320U is the same as the turning radius of the turning operation in the lower turning region 320D.

[0093] By using only turning pattern B, the turning radius can be increased and the turning curvature can be reduced, thereby enhancing the effect of reducing soil disturbance that may occur due to the turning of the harvester 100.

[0094] Figure 8 is a flowchart showing an example of a control method procedure for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting.

[0095] In step S101, before the harvesting operation, the user determines the turning radius using a terminal device.

[0096] In step 102, for example, the user manually drives the harvester along the outer edge of the field. This generates the field map data necessary for automated operation.

[0097] In step S103, the control device controls the harvester to make several turns (for example, two or three turns) around the harvesting area. This ensures that the turning area necessary for turning during the back-and-forth harvesting is secured. Compared to the conventional method, the turning motion control according to this embodiment makes it possible to narrow the width of the turning area by relatively increasing the turning radius and relatively decreasing the turning curvature. As a result, the number of turns required to form the turning area can be reduced.

[0098] Details of the mowing operation are described in the applicant's domestic application, Japanese Patent Publication No. 2021-83385. All disclosures of Japanese Patent Publication No. 2021-83385 are incorporated herein by reference.

[0099] In step S104, the control device generates multiple travel routes along the rows in the field based on the field map. As a result, the multiple travel routes are reflected in the field map data.

[0100] In step 105, the control device starts controlling the back-and-forth harvesting. The control device controls the harvester's movement to travel in a straight line along the travel path (step S106). The control device continues to control the automatic operation until the harvester reaches the end point of the back-and-forth harvesting (NO in step S107). Meanwhile, the control device stops the automatic operation control when the harvester reaches the end point of the back-and-forth harvesting (YES in step S107).

[0101] The control device continues to control the straight-line movement of the harvester until it reaches the turning point (NO in step S108). On the other hand, when the harvester reaches the turning point (YES in step S108), the control device determines the next travel path for the harvester to enter after turning, from among multiple travel paths along the rows in the field, based on the selected turning radius and the position information of the harvester, and determines the turning pattern according to the turning radius. Furthermore, the control device generates the travel path during the turn according to the determined turning pattern (step S109).

[0102] Next, the control device controls the turning motion of the harvester 100 according to the determined turning pattern until the turning of the harvester 100 is complete (NO in step S111), thereby causing the harvester to turn along the travel path during the turn. On the other hand, once the turning of the harvester 100 is complete (YES in step S111), the control device returns to controlling straight-line travel (step S106).

[0103] Thus, the control device can control the turning motion of the harvester according to the procedure illustrated in Figure 8. [Industrial applicability]

[0104] This invention can be applied to the control of the overall turning motion of harvesting machines, such as combine harvesters capable of automatic operation. [Explanation of symbols]

[0105] 100: Harvester, 101: Body, 102: Traveling device, 103: Cutting device, 104: Conveying device, 105: Threshing device, 106: Tank, 107: Discharge device, 108: Straw disposal device, 109: Reel, 110: Cabin, 111: Prime mover, 112: Transmission, 117: Discharge port, 120: GNSS unit, 121: GNSS receiver, 122: RTK receiver, 123: Inertial Measurement Unit (IMU), 1 24: Processing circuit, 125: LiDAR sensor, 126: Camera, 127: Obstacle sensor, 131: Terminal monitor, 132: Operation switch group, 133: Buzzer, 140: Drive unit, 141: Power transmission mechanism, 142: Lights, 150: Sensor group, 151: Vehicle speed sensor, 152: Illuminance sensor, 160: Control unit, 164: Memory device, 165-167: ECU, 190: Communication device

Claims

1. A control system for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting, A control device that controls the turning motion during reciprocating travel according to the turning radius selected by the user from among several different turning radii, A positioning device that acquires location information of the harvesting machine in the field, Equipped with, The aforementioned turning motion is a control system that includes turning and reversing movements.

2. The control device is Depending on the turning radius selected by the user, one turning pattern is determined from among multiple turning patterns, each with a different turning motion. The control system according to claim 1, which controls the turning motion according to the determined turning pattern.

3. The control system according to claim 2, wherein the plurality of turning patterns include a first turning pattern that moves the harvester between adjacent travel paths among the plurality of travel paths by turning, and a second turning pattern that moves the harvester between two travel paths with one or more travel paths in between.

4. The control system according to claim 2 or 3, wherein the control device determines, based on the selected turning radius and the position information of the harvester, the travel path that the harvester will turn and enter next from among a plurality of travel paths along the rows in the field.

5. The harvesting machine is capable of harvesting 6 to 12 rows. The control system according to any one of claims 1 to 3, wherein each of the plurality of turning radii is 2.5 m or more and 5.0 m or less.

6. The control system according to any one of claims 1 to 3, further comprising a terminal device that allows the user to set one turning radius from among the plurality of turning radii.

7. The control device is One or more processors, One or more memories that store a program that controls the operation of the one or more processors, Includes, The control system according to claim 1, wherein the one or more processors control the turning motion according to the program and the turning radius selected by the user.

8. A control system according to any one of claims 1 to 3, A harvesting device for cutting crops, A harvesting machine equipped with the following features.

9. A control method for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting, comprising controlling the turning motion during reciprocating travel according to a turning radius selected by the user from among a plurality of different turning radii, The aforementioned turning motion is a control method that includes turning and reversing movements.

10. A control device configured to perform the method described in claim 9.

11. A computer program comprising a set of instructions for causing a computer to perform the method described in claim 9.

12. A computer-readable non-temporary storage medium storing a computer program that includes instructions for causing a computer to perform the method described in claim 9.

13. A control device for controlling the automatic operation of a harvesting machine that performs reciprocating harvesting, An acquisition unit that acquires a turning radius selected by the user from among several different turning radii, A control unit that controls the turning motion during reciprocating travel according to the turning radius, A control device equipped with the following features.

14. The control device according to claim 13, A positioning device that acquires location information of the harvesting machine in the field, A system equipped with these features.

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