Control systems, control methods, computer programs

Abstract

To reduce the burden on users when harvesting crops using agricultural machinery. [Solution] The control system according to the embodiment includes a first operating device that accepts user operations to switch between manual driving mode and automatic driving mode, a second operating device that accepts user operations to start automatic driving, and a third operating device that accepts user operations to switch between driving and stopping the agricultural machinery. The control device stops the agricultural machinery from driving when a first state occurs in which the user performs a second operation on the third operating device to switch the agricultural machinery from a driving state to a stopped state while the agricultural machinery is driving in automatic driving mode. When the control device has stopped the agricultural machinery from driving in response to the occurrence of the first state, if the user performs the first operation on the third operating device, the control device restarts the agricultural machinery from driving in automatic driving mode even without user operations on the first and second operating devices.

Description

Technical Field

[0007] ,

[0001] The present invention relates to a control system, a control method, and a computer program.

Background Art

[0002] As next-generation agriculture, research and development of smart agriculture using ICT (Information and Communication Technology) and IoT (Internet of Things) has been promoted. Research and development for automation and unmanned operation of agricultural machinery such as tractors and harvesters used in fields has also been advanced. For example, agricultural machinery that performs farming operations while automatically driving in a field using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning has been put into practical use.

[0003] Patent Document 1 discloses a harvester that travels automatically while harvesting crops in a field. The harvester can harvest crops by traveling along a preset travel route in the field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] It is required to reduce the burden on the user when harvesting crops with agricultural machinery.

Means for Solving the Problems

[0006] Embodiments of the present invention include the control system, the control method, and the computer program described below.

[0007] [Item 1] A control system for controlling the operation of agricultural machinery that harvests crops while traveling through a field, A control device that controls the operation of the traveling device that moves the agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machinery is manually driven and an automatic operation mode in which the agricultural machinery is automatically driven. A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, When the user performs an operation on the first operating device to switch from the manual driving mode to the automatic driving mode, and the user operates the second operating device and performs a first operation on the third operating device to switch the agricultural machine from a stopped state to a running state, the control device drives the agricultural machine in the automatic driving mode. The control device is When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the driving of the agricultural machinery is stopped. A control system that, when the agricultural machinery is stopped in response to the occurrence of the first state, and the user performs the first operation on the third operating device, restarts the agricultural machinery in the automatic driving mode even without any operation by the user on the first operating device or the second operating device.

[0008] [Item 2] The control system according to item 1, wherein the control device maintains the automatic driving mode without switching from the automatic driving mode to the manual driving mode when the first state occurs.

[0009] [Item 3] The control system according to item 2, wherein the control device stops the movement of the agricultural machine in response to the occurrence of the first state, and if the user does not perform the first operation on the third operating device for a predetermined period of time, the control device switches from the automatic operation mode to the manual operation mode.

[0010] [Item 4] The control system described in item 3, wherein the predetermined time is 5 seconds or more and 30 seconds or less.

[0011] [Item 5] The agricultural machinery is equipped with a harvesting device for harvesting the crops in the field. The control system according to any one of items 1 to 4, wherein the control device stops the movement of the agricultural machine when the first state occurs, but allows at least a portion of the operation of the harvesting device to continue.

[0012] [Item 6] The control device is a control system according to any one of items 1 to 5, wherein when the agricultural machine is running in the automatic driving mode and the agricultural machine stops running while the user has not performed the second operation on the third operating device, the control device switches from the automatic driving mode to the manual driving mode after the user has performed the second operation on the third operating device.

[0013] [Item 7] The control system according to any one of items 1 to 6, wherein the third operating device is a gear shift lever.

[0014] [Item 8] The aforementioned agricultural machine is a harvester, and the control system is one of the items 1 to 7.

[0015] [Item 9] Agricultural machinery equipped with a control system as described in any of items 1 through 8.

[0016] [Item 10] A control method for controlling the operation of an agricultural machine that harvests crops while traveling in a field, which is executed by one or more computers, The agricultural machine A first operation device that receives an operation by a user for switching between a manual operation mode in which the agricultural machine is manually driven and an automatic operation mode in which the agricultural machine is automatically driven, A second operation device that receives an operation by the user for starting the automatic operation of the agricultural machine, A third operation device that receives an operation by the user for switching between traveling and stopping of the agricultural machine, Comprises The control method When the user performs an operation on the first operation device to switch from the manual operation mode to the automatic operation mode, and the user operates the second operation device, and the user performs a first operation on the third operation device to switch the agricultural machine from a stopped state to a traveling state, the agricultural machine is made to travel in the automatic operation mode, <000​​​​​​​​​​​​​​​ A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, The aforementioned computer program, When the user performs an operation on the first control device to switch from the manual driving mode to the automatic driving mode, and the user operates the second control device and performs a first operation on the third control device to switch the agricultural machine from a stopped state to a running state, the agricultural machine is driven in the automatic driving mode. When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the driving of the agricultural machinery shall be stopped. When the agricultural machinery is stopped in response to the occurrence of the first state, if the user performs the first operation on the third control device, the agricultural machinery will resume running in the automatic driving mode even without any further operation by the user on the first and second control devices. A computer program that causes one or more computers to execute the aforementioned program.

[0018] [Item 12] A control system for controlling the operation of agricultural machinery that harvests crops while traveling through a field, One or more processors, One or more storage devices that store computer programs that control the operation of the one or more processors, Equipped with, The aforementioned agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machinery is manually driven and an automatic operation mode in which the agricultural machinery is automatically driven. A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, The one or more processors, in accordance with the computer program, When the user performs an operation on the first control device to switch from the manual driving mode to the automatic driving mode, and the user operates the second control device and performs a first operation on the third control device to switch the agricultural machine from a stopped state to a running state, the agricultural machine is driven in the automatic driving mode. When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the driving of the agricultural machinery is stopped. A control system that, when the agricultural machinery is stopped in response to the occurrence of the first state, and the user performs the first operation on the third operating device, restarts the agricultural machinery in the automatic driving mode even without any operation by the user on the first operating device or the second operating device. [Effects of the Invention]

[0019] When an agricultural machine is operating in automatic driving mode, the user may stop the machine by performing a second operation on the third control device, switching the machine from a driving state to a stopped state. For example, the user may stop the machine if they determine that harvested crops are about to clog the machine. If the machine is stopped, it is possible to deactivate automatic driving mode and switch to manual driving mode. However, in this case, in order to restart the machine in automatic driving mode, the user would have to operate all three control devices again, which may be cumbersome for the user.

[0020] According to one embodiment of the present invention, when the agricultural machinery is stopped, if the user performs a first operation on the third control device, the agricultural machinery will resume operation in automatic driving mode without any further operation by the user on the first and second control devices. This eliminates the need to operate all three control devices again, thereby reducing the burden on the user. [Brief explanation of the drawing]

[0021] [Figure 1] This figure shows an example of a harvesting machine according to one embodiment. [Figure 2] This is a block diagram showing an example of a harvesting machine configuration. [Figure 3] This is a diagram showing an example of an operating terminal. [Figure 4] This figure shows an example of a gear shift lever installed on a harvesting machine. [Figure 5] This diagram shows a harvesting machine harvesting crops from a field. [Figure 6] This flowchart shows an example of the process for starting harvesting operations on a harvesting machine in automatic driving mode. [Figure 7] This flowchart shows an example of the process that takes place when a user stops the harvesting machine from moving. [Figure 8] This flowchart shows another example of the process that takes place when a user stops the harvesting machine from moving. [Figure 9] This flowchart shows an example of what happens when the harvester stops moving while the user has not performed a second operation on the gear shift lever. [Figure 10] This figure shows another example of a harvesting machine. [Modes for carrying out the invention]

[0022] 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 by 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. The numerals F, Re, L, R, U, and D in the drawings represent front, back, left, right, top, and bottom, respectively.

[0023] The following embodiments are illustrative, and the technology of the present invention is not limited to these embodiments. The content of the following embodiments is merely an example, and various modifications are possible as long as they do not result in technical inconsistencies. Furthermore, it is possible to combine one embodiment with another as long as they do not result in technical inconsistencies.

[0024] <1. Agricultural machinery> The agricultural machinery according to this embodiment may be a mobile agricultural machine capable of harvesting crops in a field while moving. Below, an example in which the agricultural machinery is a harvester will be described.

[0025] Figure 1 shows an example of a harvester 100 according to this embodiment. The harvester 100 may be, for example, a combine harvester. The harvester 100 performs tasks such as cutting crops in a field, threshing the cut crops, storing the harvested material after threshing, and discharging the harvested material. The crops in the field may be, but are not limited to, plants that can be harvested as grains such as rice, wheat, corn, and soybeans.

[0026] The harvester 100 is equipped with an automatic driving function. That is, the harvester 100 can be driven by the operation of a control device without manual operation. The control device in this embodiment is installed inside the harvester 100 and can control both the speed and steering of the harvester 100. The harvester 100 may automatically drive not only within the field but also outside the field (for example, on a road). The harvester 100 is equipped with devices used for positioning or self-position estimation, such as a GNSS unit and a LiDAR sensor. The control device of the harvester 100 automatically drives the harvester 100 based on the position of the harvester 100 and information on the target path.

[0027] The operation of the harvesting machine 100 can be managed by a harvesting management system. The harvesting management system includes the harvesting machine 100, a user terminal device, a management device, etc.

[0028] The user terminal device is a computer used by a user to remotely monitor the harvester 100. The management device is a computer managed by the operator of the harvest management system. The harvester 100, the user terminal device, and the management device can communicate with each other via a network. The harvest management system may include multiple harvesters 100. The harvest management system may also include other agricultural machinery.

[0029] The management device is a computer that manages agricultural work performed by the harvesting machine 100. The management device may be, for example, a server computer that centrally manages field-related information on the cloud and supports agriculture by utilizing the data on the cloud. For example, the management device creates a work plan for the harvesting machine 100 and causes the harvesting machine 100 to perform agricultural work according to that work plan.

[0030] The user terminal device is a computer used by a user located away from the harvesting machine 100. The user terminal device may be used to remotely monitor or remotely operate the harvesting machine 100.

[0031] The harvester 100 shown in Figure 1 comprises a body 101 and a running gear 102. The running gear 102 shown is a crawler-type running gear, but it may also be a running gear with wheels. A cabin 114 is provided above the body 101.

[0032] The running gear 102 comprises a prime mover (engine) 111 and a transmission 112. Inside the cabin 114 are a driver's seat, control levers, control terminals, and a group of switches for operation.

[0033] The harvester 100 is equipped with a harvesting device 110. The harvesting device 110 is equipped with a conveying device 104, a threshing device 105, a tank 106, a discharge device 107, a straw disposal device 108, and a header 115.

[0034] The header 115 is located at the front of the harvester 100 and cuts the crops in the field. The header 115 includes a cutting device 103 for cutting the crops and a reel 109 for raising the stems of the crops. The header 115 is located at the front of the conveying device 104. The conveying device 104 transports the cut crops. The reel 109 is located above the cutting device 103. The cutting device 103 and the reel 109 are height-adjustable.

[0035] Behind the cabin 114, a threshing device 105 and a tank 106 for storing harvested material are arranged side by side in the left-right direction. A conveying device 104 is positioned between the harvesting device 103 and the threshing device 105. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested material obtained by threshing grains, etc. Behind the threshing device 105, a straw disposal device 108 is provided. The straw disposal device 108 finely cuts the stems and other parts remaining after the harvested material such as grains has been removed and discharges them to the outside. The tank 106 is equipped with a discharge device 107 for discharging the harvested material from the tank 106.

[0036] Since the configuration and operation of various harvesting devices such as the harvesting device 103, conveying device 104, threshing device 105, tank 106, discharge device 107, straw disposal device 108, and reel 109 are publicly known, a detailed explanation of them will be omitted here.

[0037] In this embodiment, the harvester 100 can operate in both manual and automatic modes. In automatic mode, the harvester 100 can operate unmanned. Furthermore, in automatic mode, the harvester 100 can operate unmanned while performing the operation of harvesting crops in the field. It is also possible to operate the harvester 100 in automatic mode with a person on board.

[0038] The harvester 100 includes a plurality of sensing devices that sense the environment around the harvester 100, and a control device that processes the sensor data output from the plurality of sensing devices. The sensing devices may be a millimeter-wave radar 125, a camera 126, a LiDAR sensor 127, and an obstacle sensor 128.

[0039] The millimeter-wave radar 125 illustrated in Figure 1 is positioned at the front of the harvester 100. The millimeter-wave radar 125 may also be provided at the sides and / or rear of the harvester 100. The millimeter-wave radar 125 may be a two-dimensional scanning type millimeter-wave radar or a three-dimensional scanning type millimeter-wave radar. The millimeter-wave radar 125 senses the environment around the harvester 100 and outputs sensor data. The millimeter-wave radar 125 repeatedly outputs sensor data indicating the distance to a measurement point corresponding to an object in the surrounding environment, the angle of the measurement point, and the velocity of the measurement point. The millimeter-wave radar 125 is, for example, an FMCW (Frequency Modulated Continuous Wave) type millimeter-wave radar, but is not limited to that.

[0040] Sensor data output from the millimeter-wave radar 125 is processed by the control unit of the harvesting machine 100. Based on the sensor data, the control unit can detect objects such as obstacles present around the harvesting machine 100.

[0041] The cameras 126 illustrated in Figure 1 are installed on the front, back, left, and right sides of the harvesting machine 100. The cameras 126 capture images of the environment surrounding the harvesting machine 100 and generate image data. The images acquired by the cameras 126 are output to a control device mounted on the harvesting machine 100 and can be transmitted to a user terminal device for remote monitoring. These images can also be used to monitor the harvesting machine 100 during unmanned operation.

[0042] The LiDAR sensor 127 illustrated in Figure 1 is positioned at the front and rear of the harvester 100. Additional LiDAR sensors 127 may be provided on the sides of the harvester 100. The harvester 100 may be equipped with multiple LiDAR sensors positioned at different locations and in different orientations. The LiDAR sensor 127 may be a 3D-LiDAR sensor, but it may also be a 2D-LiDAR sensor. The LiDAR sensor 127 senses the environment surrounding the harvester 100 and outputs sensor data. The LiDAR sensor 127 repeatedly outputs sensor data indicating the distance and direction to each measurement point of objects in the surrounding environment, or the 3D or 2D coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 127 is processed by the control device of the harvester 100. The control device can perform self-position estimation of the harvester 100 by matching the sensor data with an environmental map. Furthermore, the control device can detect objects such as obstacles present around the harvester 100 based on the sensor data. The control device can also generate or edit environmental maps using algorithms such as SLAM (Simultaneous Localization and Mapping).

[0043] The obstacle sensor 128 illustrated in Figure 1 is located on the side of the harvester 100. The obstacle sensor 128 may also be located in other places. For example, the obstacle sensor 128 may be located on the front and rear of the harvester 100. The obstacle sensor 128 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensor 128 is used to detect surrounding obstacles during automatic driving and to stop or bypass the harvester 100. A LiDAR sensor 127 may be used as one of the obstacle sensors 128.

[0044] The harvester 100 is equipped with a positioning device 121 that detects the geographic coordinates of the harvester 100's location. The positioning device 121 is, for example, a GNSS unit. The GNSS unit 121 includes a GNSS receiver. 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 121 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 121 is located on top of the cabin 114, but it may be located in other locations.

[0045] The control device of the harvester 100 may use sensor data acquired by sensing devices such as the camera 126 and / or LiDAR sensor 127 for positioning, in addition to the positioning results from the GNSS unit 121. If there are features that function as characteristic points in the environment in which the harvester 100 is traveling, the position and orientation of the harvester 100 can be estimated with high accuracy based on the data acquired by the camera 126 and / or LiDAR sensor 127 and an environmental map stored in a memory device in advance. By correcting or supplementing the position data based on satellite signals using the data acquired by the camera 126 and / or LiDAR sensor 127, the position of the harvester 100 can be determined with even higher accuracy.

[0046] The prime mover 111 may be, 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 changing the gear. The transmission 112 can also switch the harvester 100 between forward and reverse.

[0047] In a configuration where the harvester 100 is equipped with a crawler-type running gear 102, the direction of travel of the harvester 100 can be changed by making the rotational speeds of the left and right wheels, which are fitted with tracks, different from each other, or by making the rotational directions of the left and right wheels different from each other. In a configuration where the harvester 100 is equipped with a running gear that has wheels with tires, the harvester 100 is equipped with a power steering device, and the direction of travel of the harvester 100 can be changed by controlling the power steering device to change the steering angle (also called the "steering angle") of the steering wheels.

[0048] 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 114, steering system, and 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.

[0049] Figure 2 is a block diagram showing an example configuration of the harvesting machine 100. The harvesting machine 100 can communicate with the user terminal device and management device described above via a network.

[0050] The harvesting machine 100 illustrated in Figure 2 includes a GNSS unit 121, an inertial measurement unit (IMU) 122, a millimeter-wave radar 125, a camera 126, a LiDAR sensor 127, an obstacle sensor 128, an operating terminal 131, a group of operating switches 132, a drive unit 140, a power transmission mechanism 141, a group of sensors 150, a control device 160, and a communication device 190. These components are connected to each other via a bus so that they can communicate with one another.

[0051] The GNSS unit 121 includes, for example, a GNSS receiver and an RTK receiver. The sensor group 150 detects various states of the harvester 100. The sensor group 150 includes an operating lever sensor 151, a rotation sensor 152, and a load sensor 156. The control device 160 includes a processor 161, RAM (Random Access Memory) 162, ROM (Read Only Memory) 163, a storage device 164, and a plurality of electronic control units (ECUs) 165 to 167. Figure 2 shows the components that are relatively highly relevant to the operation of the automatic operation of the harvester 100, and the illustration of other components is omitted.

[0052] The GNSS unit 121 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.

[0053] The GNSS unit 121 can position the harvester 100 using RTK (Real Time Kinematic)-GNSS. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station may be located 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 satellite signals received from multiple GNSS satellites and transmits it to the GNSS unit 121. The RTK receiver of the GNSS unit 121 includes an antenna and a modem and receives the correction signal transmitted from the reference station. The GNSS unit 121 corrects the positioning result based on the correction signal. Using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Position data, including latitude, longitude, and altitude information, is acquired through high-precision positioning using RTK-GNSS. The GNSS unit 121 calculates the position of the harvester 100 at a frequency of, for example, 1 to 10 times per second.

[0054] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System) may be performed. If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In that case, the GNSS unit 121 does not need to be equipped with an RTK receiver.

[0055] Even when using RTK-GNSS, in locations where correction signals from a reference station cannot be obtained (for example, on a road far from the field), the position of the harvester 100 is estimated by other means, without relying on signals from the RTK receiver. For example, the position of the harvester 100 can be estimated by matching data output from the LiDAR sensor 127 and / or camera 126 with a high-precision environmental map.

[0056] The IMU122 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU122 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU122 can function as a motion sensor and output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the harvester 100.

[0057] Position data can be supplemented using the output signal of IMU122. IMU122 can measure the tilt and minute movements of the harvester 100. By using the data acquired by IMU122 to supplement position data based on satellite signals, positioning performance can be improved.

[0058] In addition to the satellite signals and correction signals mentioned above, the position and orientation of the harvester 100 can be estimated with higher accuracy based on the signals output from the IMU 122. The signals output from the IMU 122 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 122 outputs signals at a higher frequency than position detection using satellite signals. By utilizing these high-frequency signals, the position and orientation of the harvester 100 can be measured at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 122, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU 122 may be included in the GNSS unit 121.

[0059] Camera 126 is an imaging device that captures the environment around the harvester 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 with one or more lenses and a signal processing circuit. While the harvester 100 is running, Camera 126 captures the environment around the harvester 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 can be used, for example, when a remote observer uses a user terminal device to check the environment around the harvester 100. The images generated by Camera 126 may also be used for positioning or obstacle detection. Multiple cameras 126 may be installed at different locations on the harvester 100, or only a single 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 visible and infrared cameras may be provided as cameras that generate surveillance images. Infrared cameras can also be used for detecting obstacles at night.

[0060] The obstacle sensor 128 detects objects present in the vicinity of the harvester 100. The obstacle sensor 128 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 128 outputs a signal indicating the presence of an obstacle when an object is located closer than a predetermined distance from the obstacle sensor 128. Multiple obstacle sensors 128 may be provided at different locations on the harvester 100. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the harvester 100. By providing multiple obstacle sensors 128, blind spots in monitoring obstacles around the harvester 100 can be reduced.

[0061] The operating lever sensor 151 detects the operation of the operating lever by the user inside the cabin 114. The output signal from the operating lever sensor 151 is used for operation control by the control device 160. The rotation sensor 152 measures the rotational speed of the axle of the traveling device 102, i.e., the number of rotations per unit time. The rotation sensor 152 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 152 outputs a numerical value indicating the number of rotations of the axle per minute (unit: rpm). The rotation sensor 152 is used, for example, to measure the speed of the harvester 100.

[0062] A load sensor 156 is installed at the bottom of the tank 106 and detects the weight of the harvested produce inside the tank 106. By detecting the weight of the harvested produce inside the tank 106, the control device 160 can recognize the storage state of the harvested produce inside the tank 106. A yield sensor and a taste sensor may be installed inside or around the tank 106. The taste sensor outputs quality data such as the moisture content and protein content of the harvested produce.

[0063] 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 includes, for example, 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 together with the internal combustion engine.

[0064] 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 tank 106, 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.

[0065] The processor 161 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 161 may be implemented by a microprocessor or microcontroller. Alternatively, the processor 161 may be implemented by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product), or a combination of two or more circuits selected from these circuits. The processor 161 sequentially executes a computer program stored in the ROM 163, which describes a set of instructions for performing at least one process, to realize the desired process.

[0066] ROM163 is, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. ROM163 stores a program that controls the operation of the processor 161. ROM163 does not have to be a single storage medium; it may be a collection of multiple storage media. Some of the collection of multiple storage media may be removable memory.

[0067] RAM162 provides a workspace for temporarily unpacking the control program stored in ROM163 during boot-up. RAM162 does not need to be a single storage medium; it may be a collection of multiple storage media.

[0068] The storage device 164 includes one or more storage media such as flash memory or magnetic disks. The storage device 164 stores various data generated by the GNSS unit 121, millimeter-wave radar 125, camera 126, LiDAR sensor 127, obstacle sensor 128, sensor group 150, and control device 160. The data stored in the storage device 164 may include map data of the environment in which the harvester 100 travels (environmental map) and target route data for autonomous driving. The environmental map includes information on multiple fields in which the harvester 100 performs agricultural work and the surrounding roads. The environmental map and target route may be generated by the processor of the management device. The control device 160 may also have a function to generate or edit the environmental map and target route. The control device 160 can edit the environmental map and target route acquired from the management device according to the driving environment of the harvester 100. The storage device 164 also stores work plan data received by the communication device 190 from the management device.

[0069] The storage device 164 also stores computer programs that cause the processor 161 and ECUs 165-167 to perform various operations described later. Such computer programs can be provided to the harvester 100 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0070] The control device 160 includes a plurality of ECUs 165-167. ECU 165 controls the travel speed and turning motion of the harvester 100 by controlling the prime mover 111, transmission 112, and travel device 102, etc., which are included in the drive unit 140.

[0071] The ECU 165 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 121, millimeter-wave radar 125, camera 126, LiDAR sensor 127, obstacle sensor 128, sensor group 150, and processor 161. For example, the ECU 165 determines the position of the harvester 100 based on data output from at least one of the GNSS unit 121, camera 126, and LiDAR sensor 127. Within the field, the ECU 165 may determine the position of the harvester 100 based only on data output from the GNSS unit 121. The ECU 165 may estimate or correct the position of the harvester 100 based on data acquired by the camera 126 and / or LiDAR sensor 127. By utilizing the data acquired by the camera 126 and / or LiDAR sensor 127, the accuracy of positioning can be further improved. For example, the ECU 165 may estimate the position of the harvester 100 by matching data output from the LiDAR sensor 127 and / or camera 126 with an environmental map. During autonomous driving, the ECU 165 performs calculations necessary for the harvester 100 to travel along the target path based on the estimated position of the harvester 100.

[0072] The ECU 166 may determine the destination of the harvester 100 based on the work plan stored in the storage device 164, and may determine the target path from the starting point to the destination point of the harvester 100's movement. The ECU 166 may also perform processing to detect objects located around the harvester 100 based on data output from the millimeter-wave radar 125, camera 126, obstacle sensor 128, and LiDAR sensor 127.

[0073] The ECU167 controls the operation of the power transmission mechanism 141 and other components in order to cause the various devices that perform the harvesting operation described above to execute the desired operation.

[0074] 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 or estimated position of the harvester 100 and the target path. This allows the control unit 160 to drive the harvester 100 along the target path.

[0075] 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, each of the ECUs 165 to 167 is shown as a separate block, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 165 to 167 may be provided. The control unit 160 may also include ECUs other than ECUs 165 to 167, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors. Processor 161 may be integrated with any of the ECUs included in the control unit 160.

[0076] The communication device 190 is a device that includes circuits for communicating with the user terminal device and the management device. The communication device 190 may include antennas and communication circuits for transmitting and receiving signals over a network to and from the respective communication devices of the user terminal device and the management device. 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®.

[0077] The operation terminal 131 is a terminal for the user to perform operations related to the operation of the harvester 100, and is also called a virtual terminal (VT). The operation terminal 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 operation terminal 131, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing the environmental map, and setting a target route. At least some of these operations can also be performed by operating the operation switch group 132. The operation terminal 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 operation terminal 131. Instead of the operation terminal 131, the user may control the operation of the harvester 100 by operating a computer with the necessary application software installed, such as a user terminal device.

[0078] The control switch group 132 includes various operating devices such as switches, levers, and dials for adjusting the operation of the harvester 100. The control switch group 132 includes, for example, an accelerator lever for adjusting the travel speed and a gear shift lever for switching gears. By operating the control switch group 132, the operator can give various instructions to the harvester 100 for travel and work.

[0079] Figure 3 shows an example of an operating terminal 131. The operating terminal 131 shown in Figure 3 includes switch elements 301-303 and a display device 305. Various types of information are displayed on the display device 305.

[0080] The switch element 301 is a switch element that accepts user input to switch between a manual operation mode in which the harvester 100 is operated manually and an automatic operation mode in which the harvester 100 is operated automatically. The switch element 301 is, for example, a rocker switch. For example, the user can select the manual operation mode by pressing the upper part of the switch element 301 with their finger, and can select the automatic operation mode by pressing the lower part of the switch element 301 with their finger.

[0081] The switch element 302 is a switch element that accepts user input to start the automatic operation of the harvester 100. The switch element 302 is, for example, a push-button switch. For example, the user can start the automatic operation by pressing the switch element 302 with their finger. Alternatively, the user can start the automatic operation by pressing and holding the switch element 302 for several seconds.

[0082] The switch element 303 is a switch element that receives user input to move the harvester 100 to the discharge point where the harvested produce is discharged. The switch element 303 is, for example, a push-button switch. For example, the user can start moving to the discharge point by pressing the switch element 303 with their finger. Alternatively, the user may start moving to the discharge point by pressing and holding the switch element 302 for several seconds.

[0083] Figure 4 shows an example of a gear shift lever provided on the harvester 100. The gear shift lever 313 is located inside the cabin 114. The gear shift lever 313 accepts user input to switch between running and stopping the harvester 100.

[0084] The control device 160 can detect the position of the gear shift lever 313 based on the output signal from the operating lever sensor 151. The control device 160 moves the harvester 100 forward when the user pushes the gear shift lever 313 forward, and moves the harvester 100 backward when the user pushes the gear shift lever 313 backward. The control device 160 stops the harvester 100 from moving when the user puts the gear shift lever 313 in the neutral position.

[0085] <2. Controlling the operation of the harvesting machine> Next, the control of the operation of the harvester 100 will be described. The control system 10 for controlling the operation of the harvester 100 in this embodiment includes a control device 160, a switch element (first operating device) 301, a switch element (second operating device) 302, a speed change lever (third operating device) 313, and the like.

[0086] Figure 5 shows the harvesting operation of the harvester 100 in the field 70.

[0087] The harvester 100 of this embodiment harvests crops while automatically driving through the field 70. Within the field 70, the harvester 100 performs the operation of harvesting crops while driving along a pre-set target route 73. Within the field 70, the positioning of the harvester 100 is mainly performed based on data output from the GNSS unit 121. In addition to the positioning data output from the GNSS unit 121, the position of the harvester 100 may also be estimated based on data output from the LiDAR sensor 127 and / or camera 126.

[0088] In the example shown in Figure 5, the field 70 includes a work area 71 where the harvester 100 harvests crops, and a headland 72 located near the outer edge of the field 70. The user can pre-set which areas of the field 70 correspond to the work area 71 and the headland 72 on the map. The harvester 100 automatically travels along a target route 73, as shown in Figure 5, from the start point to the end point of the work. Note that the target route 73 shown in Figure 5 is merely an example, and the method of defining the target route 73 is arbitrary. The target route 73 may be created based on user operations or may be created automatically. The target route 73 may be created to cover, for example, the entire work area 71 within the field 70.

[0089] The harvester 100 harvests crops while automatically driving along the target path 73. The processor 161 (Figure 2) of the harvester 100 instructs the ECU 165 to control the harvester 100 to drive automatically along the target path 73, and also instructs the ECU 167 to control the crop harvesting operation. The ECU 165 controls the operation of the drive unit 140 to drive the harvester 100 automatically. The ECU 167 controls the operation of the power transmission mechanism 141 to cause the various devices that perform the crop harvesting operation to perform the desired operation. The cutting device 103 cuts the crops in the field 70. The threshing device 105 threshes the cut crops. The tank 106 stores the harvested material obtained by threshing grains, etc. The straw disposal device 108 finely cuts the stems, etc., after the harvested material such as grains has been removed and discharges them to the outside.

[0090] Figure 6 is a flowchart showing an example of the process for starting harvesting work by the harvester 100 in automatic operation mode.

[0091] In this embodiment, when the control device 160 detects user operation on the switch element 301, the switch element 302, and the speed shift lever 313, it starts the harvesting operation of the harvester 100 in automatic operation mode.

[0092] The harvester 100 is initially set to manual operation mode. The processor 161 of the harvester 100 determines whether the user has performed an operation to switch from manual operation mode to automatic operation mode using the switch element (first operating device) 301 (step S101). For example, the user can switch from manual operation mode to automatic operation mode by pressing the bottom of the switch element 301 with their finger.

[0093] If the processor 161 determines that the user has performed an operation to switch to automatic driving mode using the switch element 301, the processor 161 then determines whether the user has operated the switch element (second operating device) 302 (step S102). For example, if the processor 161 detects that the user has pressed and held the switch element 302 for several seconds, it determines that the user has operated the switch element 302.

[0094] If the system determines that the user has operated the switch element 302, the processor 161 then determines whether the user has performed a first operation on the gear shift lever (third operating device) 313 (step S103). Here, the first operation is an operation on the gear shift lever to switch the harvester 100 from a stopped state to a running state. For example, the first operation is the user moving the gear shift lever 313 forward from the neutral position.

[0095] If the processor 161 determines that the user has performed the first operation with the gear shift lever 313, it starts the operation of harvesting crops while driving the harvester 100 in automatic driving mode (step S104).

[0096] The processor 161 can control the movement and harvesting of the harvester 100 in cooperation with the ECUs 165 and 167. The processor 161 instructs the ECU 165 to control the movement in automatic mode and instructs the ECU 167 to control the crop harvesting operation. As a result, the harvester 100 starts harvesting crops while moving through the field 70 in automatic mode. For example, as shown in Figure 5, the harvester 100 harvests crops while moving in automatic mode along the target path 73.

[0097] Next, we will explain the process that occurs when the user stops the harvester 100 while it is operating in automatic driving mode and harvesting crops.

[0098] Figure 7 is a flowchart illustrating an example of the process that occurs when a user stops the harvester 100 from moving while it is harvesting crops in automatic driving mode.

[0099] While harvesting crops with the harvester 100 running in automatic driving mode, the user may perform a second operation on the gear lever 313 to stop the harvester 100 from moving. Here, the second operation is an operation on the gear lever to switch the harvester 100 from a moving state to a stopped state. For example, the second operation is the user returning the gear lever 313 from a state where it is tilted forward to the neutral position. For example, the user may stop the harvester 100 from moving if they determine that the crops are about to get stuck in the cutting device 103 or the conveying device 104.

[0100] The processor 161 determines whether the user has performed a second operation on the gear shift lever (third operating device) 313 while the harvester 100 is running in automatic driving mode and harvesting crops (steps S111, S112). In this description of the embodiment, the state in which the user has performed a second operation on the gear shift lever 313 while the harvester 100 is running in automatic driving mode and harvesting crops may be referred to as the "first state".

[0101] If the processor 161 determines that the first condition has occurred, it stops the harvester 100 from moving (step S113). When the first condition has occurred and the harvester 100 has stopped from moving, the processor 161 does not switch from automatic operation mode to manual operation mode, but maintains the automatic operation mode.

[0102] The processor 161 determines whether the user has performed a first operation on the gear shift lever (third operating device) 313 when the harvester 100 has stopped moving in response to the occurrence of the first state (step S114). The first operation is an operation on the gear shift lever to switch the harvester 100 from a stopped state to a moving state, for example, the user moving the gear shift lever 313 forward from the neutral position.

[0103] When the processor 161 has stopped the harvester 100 in response to the occurrence of the first state, and determines that the user has performed the first operation on the gear shift lever 313, it restarts the operation of harvesting crops while the harvester 100 is running in automatic driving mode (step S115). As a result, the harvester 100 can resume the operation of harvesting crops while running in automatic driving mode.

[0104] If, while harvesting crops with the harvester 100 running in automatic mode, the user performs a second operation on the speed lever 313 to stop the harvester 100 from running, it is conceivable that the automatic mode would be deactivated and the system would switch to manual mode. However, in this case, in order to restart the harvester 100 in automatic mode, the user would need to operate all three switches again, as shown in Figure 6: the switch element (first operating device) 301, the switch element (second operating device) 302, and the speed lever (third operating device) 313, which the user may find cumbersome.

[0105] In this embodiment, when harvesting crops while the harvester 100 is running in automatic driving mode, if the user performs a second operation on the gear shift lever 313 to stop the harvester 100 from moving, the automatic driving mode is maintained without being deactivated. If the user performs a first operation on the gear shift lever 313 while the harvester 100 is stopped, the harvester 100 will resume running in automatic driving mode without any further operation by the user on the switch elements 301 and 302. Since it is not necessary to operate all of the switch elements 301, 302 and gear shift lever 313 again, the burden on the user can be reduced.

[0106] In addition, if the first state occurs during the processing in steps S111-S113, the processor 161 may stop the movement of the harvester 100, but may continue at least part of the operation of the harvesting device 110. For example, the operation of at least one of the conveying device 104, the threshing device 105, the tank 106, and the straw disposal device 108 may be continued. This allows work on the harvested crop to continue.

[0107] As described above, in this embodiment, if the operation of the harvester 100 is stopped in response to the occurrence of the first state, the automatic operation mode is maintained without being deactivated. In this state, if the user does not perform the first operation on the gear shift lever 313 for a predetermined period of time, the system may switch from automatic operation mode to manual operation mode.

[0108] Figure 8 is a flowchart illustrating another example of the process that occurs when the user stops the harvester 100 from moving while it is harvesting crops in automatic driving mode.

[0109] In the example shown in Figure 8, the processor 161 stops the harvester 100 from moving when it determines that the first state has occurred (step S113). While the processor 161 has stopped the harvester 100 from moving in response to the occurrence of the first state, it determines whether the user has performed the first operation on the gear shift lever (third operating device) 313 (step S114).

[0110] If the user does not perform the first operation on the gear shift lever 313, the processor 161 determines whether a predetermined time has elapsed since the harvester 100 stopped moving (step S116). The predetermined time is, for example, 5 seconds or more and 30 seconds or less, but is not limited to that value.

[0111] After the first state occurs, the processor 161 stops the operation of the harvester 100, and if the user does not perform the first operation on the gear shift lever 313 for a predetermined time, it switches from automatic operation mode to manual operation mode (step S117).

[0112] This prevents the harvester 100 from remaining stationary for extended periods in automatic driving mode.

[0113] Next, we will explain the process that occurs when the harvester 100 stops moving while the user has not performed a second operation on the gear shift lever 313.

[0114] Figure 9 is a flowchart showing an example of the process that takes place when the harvester 100 stops moving while the user is not performing a second operation on the gear shift lever 313.

[0115] If the processor 161 detects any abnormality while the harvester 100 is operating in automatic mode and harvesting crops, it may stop the harvester 100 from moving (step S121). In this case, the harvester 100 will remain stopped until the user performs the second operation on the gear shift lever (third operating device) 313.

[0116] When the user performs a second operation on the gear shift lever 313, the processor 161 switches from automatic driving mode to manual driving mode (steps S122, S123).

[0117] If the harvester 100 stops moving while the user has not performed the second operation on the gear lever 313, the system will wait for the user to operate the gear lever and then switch to manual operation mode. This prevents the harvester 100 from restarting against the user's intention.

[0118] Figure 10 shows another example of the harvester 100 of this embodiment. The harvester 100 shown in Figure 10 is equipped with a switching device 108a.

[0119] The cutting device (straw disposal device) 108 finely cuts the stem portion after the harvested grains and other produce have been removed and discharges it to the outside. A switching device 108a is provided above the cutting device 108. The switching device 108a switches between a first state in which the straw is supplied to the cutting device 108 and a second state in which the straw is discharged without being supplied to the cutting device 108. The switching device 108a includes, for example, a switching plate. When the switching plate is open, the straw is fed into the cutting device 108 and the shredded straw is discharged. When the switching plate is closed, the straw is not fed into the cutting device 108 and is discharged without being cut. The opening and closing of the switching plate is controlled by the control device 160 of the harvester 100.

[0120] The operation described using Figures 6-9 can also be achieved using the harvester 100 shown in Figure 10.

[0121] The control system 10 of this embodiment can also be retrofitted to agricultural machinery that does not possess those functions. Such systems can be manufactured and sold independently of agricultural machinery. Computer programs used in such systems can also be manufactured and sold independently of agricultural machinery. Computer programs can be provided, for example, by being stored in a computer-readable non-temporary storage medium. Computer programs can also be provided by download via telecommunications lines (e.g., the Internet).

[0122] Some or all of the processing performed by the processor 161 in the control system 10 may be performed by other devices. Such other devices may be at least one of the ECUs 165-167.

[0123] As described above, embodiments of the present invention include the control system, control method, and computer program described below.

[0124] [Item 1] A control system 10 for controlling the operation of an agricultural machine 100 that harvests crops while traveling in a field 70, A control device 160 controls the operation of the travel device 102 that moves the agricultural machine 100, A first operating device 301 that accepts user input to switch between a manual operation mode in which the agricultural machine 100 is driven manually and an automatic operation mode in which the agricultural machine 100 is driven automatically, A second operating device 302 that accepts user input to initiate automatic operation of agricultural machinery 100, A third operating device 313 that accepts user input to switch between driving and stopping the agricultural machine 100, Equipped with, When the user performs an operation on the first operating device 301 to switch from manual driving mode to automatic driving mode, and the user operates the second operating device 302 and performs a first operation on the third operating device 313 to switch the agricultural machine 100 from a stopped state to a running state, the control device 160 will drive the agricultural machine 100 in automatic driving mode. The control device 160 is When the agricultural machine 100 is being driven in automatic driving mode, if a first state occurs in which the user performs a second operation on the third operating device 313 to switch the agricultural machine 100 from a driving state to a stopped state, the driving of the agricultural machine 100 is stopped. When the agricultural machine 100 has stopped moving in response to the occurrence of the first state, if the user performs the first operation on the third operating device 313, the control system 10 will restart the agricultural machine 100 in automatic driving mode, even without any operation by the user on the first operating device 301 and the second operating device 302.

[0125] When the agricultural machine 100 is running in automatic driving mode, the user may stop the agricultural machine 100 by performing a second operation on the third control device 313 to switch the agricultural machine 100 from a running state to a stopped state. For example, the user may stop the agricultural machine 100 if they determine that harvested crops are about to clog the machine. If the agricultural machine 100 is stopped, it is possible to deactivate the automatic driving mode and switch to manual driving mode. However, in this case, in order to restart the agricultural machine 100 in automatic driving mode, the user would have to operate all three control devices again: the first control device 301, the second control device 302, and the third control device 313, which may be cumbersome for the user.

[0126] According to one embodiment of the present invention, when the agricultural machine 100 is stopped, if the user performs a second operation on the third operating device 313, the agricultural machine 100 will resume operation in automatic driving mode without any further operation by the user on the first operating device 301 and the second operating device 302. This eliminates the need to operate all three operating devices again, reducing the burden on the user.

[0127] [Item 2] The control device 160 maintains the automatic driving mode without switching from the automatic driving mode to the manual driving mode when the first state occurs, as described in item 1 of the control system 10.

[0128] [Item 3] The control system 10 described in item 2, wherein the control device 160 stops the movement of the agricultural machine 100 in response to the occurrence of the first state, and then switches from automatic operation mode to manual operation mode if the user does not perform the first operation on the third operating device 313 for a predetermined time.

[0129] [Item 4] The control system 10 described in item 3, wherein the predetermined time is 5 seconds or more and 30 seconds or less.

[0130] [Item 5] The agricultural machine 100 is equipped with a harvesting device 110 for harvesting crops in a field 70. The control system 10 according to any one of items 1 to 4, wherein the control device 160 stops the movement of the agricultural machine 100 when the first condition occurs, but allows at least part of the operation of the harvesting device 110 to continue.

[0131] [Item 6] The control device 160 is a control system 10 according to any one of items 1 to 5, wherein when the agricultural machine 100 is running in automatic driving mode and the agricultural machine 100 stops running while the user has not performed a second operation on the third operating device 313, the control device 160 switches from automatic driving mode to manual driving mode after the user performs a second operation on the third operating device 313.

[0132] [Item 7] The third operating device 313 is a gear shift lever, as described in any of items 1 to 6 of the control system 10.

[0133] [Item 8] Agricultural machine 100 is a harvester, control system 10 as described in any of items 1 to 7.

[0134] [Item 9] Agricultural machinery 100 equipped with a control system 10 as described in any of items 1 to 8.

[0135] [Item 10] A control method for controlling the operation of an agricultural machine 100 that harvests crops while traveling in a field 70, which is executed by one or more computers, Agricultural machinery 100 is, A first operating device 301 that accepts user input to switch between a manual operation mode in which the agricultural machine 100 is driven manually and an automatic operation mode in which the agricultural machine 100 is driven automatically, A second operating device 302 that accepts user input to initiate automatic operation of agricultural machinery 100, A third operating device 313 that accepts user input to switch between driving and stopping the agricultural machine 100, Equipped with, The control method is, When the user performs an operation on the first operating device 301 to switch from manual driving mode to automatic driving mode, and the user operates the second operating device 302 and performs a first operation on the third operating device 313 to switch the agricultural machine 100 from a stopped state to a running state, the agricultural machine 100 will be driven in automatic driving mode. When the agricultural machine 100 is being driven in automatic driving mode, if a first state occurs in which the user performs a second operation on the third operating device 313 to switch the agricultural machine 100 from a driving state to a stopped state, the driving of the agricultural machine 100 is stopped. When the agricultural machine 100 is stopped in response to the occurrence of the first state, if the user performs the first operation on the third operating device 313, the agricultural machine 100 will resume operation in automatic driving mode even without any user operation on the first operating device 301 and the second operating device 302. A control method including

[0136] [Item 11] A computer program that causes one or more computers to control the operation of an agricultural machine 100 that harvests crops while traveling through a field 70, Agricultural machinery 100 is, A first operating device 301 that accepts user input to switch between a manual operation mode in which the agricultural machine 100 is driven manually and an automatic operation mode in which the agricultural machine 100 is driven automatically, A second operating device 302 that accepts user input to initiate automatic operation of agricultural machinery 100, A third operating device 313 that accepts user input to switch between driving and stopping the agricultural machine 100, Equipped with, Computer programs are When the user performs an operation on the first operating device 301 to switch from manual driving mode to automatic driving mode, and the user operates the second operating device 302 and performs a first operation on the third operating device 313 to switch the agricultural machine 100 from a stopped state to a running state, the agricultural machine 100 will be driven in automatic driving mode. When the agricultural machine 100 is being driven in automatic driving mode, if a first state occurs in which the user performs a second operation on the third operating device 313 to switch the agricultural machine 100 from a driving state to a stopped state, the driving of the agricultural machine 100 is stopped. When the agricultural machine 100 is stopped in response to the occurrence of the first state, if the user performs the first operation on the third operating device 313, the agricultural machine 100 will resume operation in automatic driving mode even without any user operation on the first operating device 301 and the second operating device 302. A computer program that causes one or more computers to execute a command.

[0137] [Item 12] A control system 10 for controlling the operation of an agricultural machine 100 that harvests crops while traveling in a field 70, One or more processors 161, One or more storage devices 163, 164 that store computer programs that control the operation of one or more processors 161, Equipped with, Agricultural machinery 100 is, A first operating device 301 that accepts user input to switch between a manual operation mode in which the agricultural machine 100 is driven manually and an automatic operation mode in which the agricultural machine 100 is driven automatically, A second operating device 302 that accepts user input to initiate automatic operation of agricultural machinery 100, A third operating device 313 that accepts user input to switch between driving and stopping the agricultural machine 100, Equipped with, One or more processors 161, according to the computer program, When the user performs an operation on the first operating device 301 to switch from manual driving mode to automatic driving mode, and the user operates the second operating device 302 and performs a first operation on the third operating device 313 to switch the agricultural machine 100 from a stopped state to a running state, the agricultural machine 100 will be driven in automatic driving mode. When the agricultural machine 100 is being driven in automatic driving mode, if a first state occurs in which the user performs a second operation on the third operating device 313 to switch the agricultural machine 100 from a driving state to a stopped state, the driving of the agricultural machine 100 is stopped. When the agricultural machine 100 has stopped moving in response to the occurrence of the first state, if the user performs the first operation on the third operating device 313, the control system 10 will restart the agricultural machine 100 in automatic driving mode, even without any operation by the user on the first operating device 301 and the second operating device 302. [Industrial applicability]

[0138] The technology of the present invention is particularly useful in the field of agricultural machinery for harvesting crops in the field. [Explanation of symbols]

[0139] 10: Control system, 100: Agricultural machinery (harvesting machine), 101: Vehicle body, 102: Running gear, 103: Harvesting gear, 104: Conveying gear, 105: Threshing gear, 106: Tank, 107: Discharge gear, 108: Straw removal gear, 109: Reel, 110: Harvesting gear, 111: Prime mover (engine), 112: Transmission, 114: Cabin, 115: Header, 121: Positioning device (GNSS unit), 122: Inertial measurement unit (IMU), 125: Millimeter-wave radar, 126: Camera, 127: LiDAR sensor, 128: Obstacle sensor, 131: Operating terminal, 132: Operating switch group, 140: Drive system, 141: Power transmission mechanism 150: Sensor group, 151: Operating lever sensor, 152: Rotation sensor, 156: Load sensor, 160: Control device, 161: Processor, 162: RAM, 163: ROM, 164: Memory device, 165-167: ECU, 190: Communication device, 301: Switch element (first operating device), 302: Switch element (second operating device), 313: Gear shift lever (third operating device)

Claims

1. A control system for controlling the operation of agricultural machinery that harvests crops while traveling through a field, A control device that controls the operation of the traveling device that moves the agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machine is operated manually and an automatic operation mode in which the agricultural machine is operated automatically, A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, When the user performs an operation on the first operating device to switch from the manual driving mode to the automatic driving mode, and the user operates the second operating device and performs a first operation on the third operating device to switch the agricultural machine from a stopped state to a running state, the control device drives the agricultural machine in the automatic driving mode. The control device is When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the agricultural machinery will be stopped from driving. A control system that, when the agricultural machinery is stopped in response to the occurrence of the first state, and the user performs the first operation on the third operating device, restarts the agricultural machinery in the automatic driving mode even without any operation by the user on the first operating device or the second operating device.

2. The control system according to claim 1, wherein the control device maintains the automatic driving mode without switching from the automatic driving mode to the manual driving mode when the first state occurs.

3. The control system according to claim 2, wherein the control device stops the agricultural machinery from running in response to the occurrence of the first state, and if the user does not perform the first operation on the third operating device for a predetermined period of time, the control device switches from the automatic operation mode to the manual operation mode.

4. The control system according to claim 3, wherein the predetermined time is 5 seconds or more and 30 seconds or less.

5. The agricultural machinery is equipped with a harvesting device for harvesting the crops in the field. The control system according to claim 1 or 2, wherein the control device stops the movement of the agricultural machine when the first state occurs, but continues at least a part of the operation of the harvesting device.

6. The control system according to claim 1 or 2, wherein when the agricultural machinery is being driven in the automatic driving mode and the agricultural machinery stops moving while the user has not performed the second operation on the third operating device, the control device switches from the automatic driving mode to the manual driving mode after the user has performed the second operation on the third operating device.

7. The control system according to claim 1 or 2, wherein the third operating device is a gear shift lever.

8. The control system according to claim 1 or 2, wherein the agricultural machine is a harvester.

9. Agricultural machinery comprising the control system according to claim 1 or 2.

10. A control method for controlling the operation of an agricultural machine that harvests crops while traveling through a field, which is executed by one or more computers, The aforementioned agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machine is operated manually and an automatic operation mode in which the agricultural machine is operated automatically, A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, The control method described above is When the user performs an operation on the first control device to switch from the manual driving mode to the automatic driving mode, and the user operates the second control device and performs a first operation on the third control device to switch the agricultural machine from a stopped state to a running state, the agricultural machine is driven in the automatic driving mode. When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the agricultural machinery shall be stopped from driving. When the agricultural machinery is stopped in response to the occurrence of the first state, if the user performs the first operation on the third control device, the agricultural machinery will resume running in the automatic driving mode even without any further operation by the user on the first and second control devices. A control method including

11. A computer program that causes one or more computers to control the operation of an agricultural machine that harvests crops while traveling through a field, The aforementioned agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machine is operated manually and an automatic operation mode in which the agricultural machine is operated automatically, A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, The aforementioned computer program, When the user performs an operation on the first control device to switch from the manual driving mode to the automatic driving mode, and the user operates the second control device and performs a first operation on the third control device to switch the agricultural machine from a stopped state to a running state, the agricultural machine is driven in the automatic driving mode. When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the agricultural machinery shall be stopped from driving. When the agricultural machinery is stopped in response to the occurrence of the first state, if the user performs the first operation on the third control device, the agricultural machinery will resume running in the automatic driving mode even without any further operation by the user on the first and second control devices. A computer program that causes one or more computers to execute the aforementioned program.

12. A control system for controlling the operation of agricultural machinery that harvests crops while traveling through a field, One or more processors, One or more storage devices that store computer programs that control the operation of the one or more processors, Equipped with, The aforementioned agricultural machinery, A first operating device that accepts user input to switch between a manual operation mode in which the agricultural machine is operated manually and an automatic operation mode in which the agricultural machine is operated automatically, A second operating device that receives user input to initiate automatic operation of the agricultural machinery, A third operating device that receives user input for switching between driving and stopping the agricultural machinery, Equipped with, The one or more processors, in accordance with the computer program, When the user performs an operation on the first control device to switch from the manual driving mode to the automatic driving mode, and the user operates the second control device and performs a first operation on the third control device to switch the agricultural machine from a stopped state to a running state, the agricultural machine is driven in the automatic driving mode. When the agricultural machinery is being driven in the aforementioned automatic driving mode, if the user performs a second operation on the third control device to switch the agricultural machinery from the driving state to the stopped state, the agricultural machinery will be stopped from driving. A control system that, when the agricultural machinery is stopped in response to the occurrence of the first state, and the user performs the first operation on the third operating device, restarts the agricultural machinery in the automatic driving mode even without any operation by the user on the first operating device or the second operating device.

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