Automated driving method and automated driving system

Abstract

The present invention provides an automated driving method and automated driving system that reduces the burden on the operator and enables smooth harvesting near the corners of the field. [Solution] In the combine harvester 1, the travel control unit 35 controls the combine harvester 1 to travel along multiple outer perimeter straight paths 54a for automatic travel, circling along each of the multiple sides that make up the outer shape of the field 50. The path creation unit 47 sets the turning area 55 required for turning from one outer perimeter straight path 54a to the next outer perimeter straight path 54b, based on the machine information of the combine harvester 1. The display unit 44 displays the turning area 55 on the display screen.

Description

Technical Field

[0001] The present invention relates to an automatic driving method and an automatic driving system for a work vehicle that performs automatic driving in a field.

Background Art

[0002] Some work vehicles such as combines execute automatic mowing travel in which they create an automatic driving route within a work area in a field and perform mowing work while automatically driving along the automatic driving route. The work vehicle forms a work area by leaving a predetermined headland width from the outer shape of the field by performing mowing travel on a straight driving route along the outer shape of the field from the outermost periphery of the field.

[0003] For example, Patent Document 1 relates to a travel route generation device that generates a travel route for a work vehicle that travels while working on a work site, and schematically shows a work vehicle automatic driving system. In the harvesting work in the field, the area where the harvesting machine, which is a work vehicle, makes a circular travel while working along the boundary line of the field is set as the outer peripheral area, and the inside of the outer peripheral area is set as the work target area. The outer peripheral area is used as a movement space and a direction change space for the harvesting machine, etc. To secure the outer peripheral area, the harvesting machine makes a circular travel of 3 to 4 rounds along the boundary line of the field as the first work travel.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When harvesting a field using a work vehicle on a straight path along the outermost perimeter (perimeter harvesting), manual operation is required to ensure that no unharvested areas remain and that the vehicle does not collide with the ridges. In particular, near the corners of the field, the work vehicle repeatedly moves forward and backward to ensure that no unharvested areas such as unharvested grain stalks remain, and to create the area of ​​already harvested land necessary for turning from one straight path to another. However, manual operation involving repeated forward and reverse movement near the corners of the field increases the burden on the operator and reduces work efficiency, such as making perimeter harvesting take longer.

[0006] The present invention aims to provide an automated driving method and automated driving system that can reduce the burden on the operator and enable smooth harvesting near the corners of a field. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides an automatic driving method for a work vehicle that drives automatically in a field, comprising: an outer perimeter driving step of driving along a plurality of outer perimeter straight paths for automatic driving while circling along each of a plurality of sides constituting the outer shape of the field; a region setting step of setting a turning area required for turning from one of the outer perimeter straight paths to the next outer perimeter straight path based on the machine information of the work vehicle; and a display step of displaying the turning area on a display unit.

[0008] Furthermore, in order to solve the above problems, the present invention provides an automatic driving system for a work vehicle that drives automatically in a field, comprising a driving control unit, an area setting unit, and a display unit, wherein the driving control unit controls the vehicle to drive along a plurality of outer perimeter straight paths for automatic driving while circling along each of the plurality of sides that constitute the outer shape of the field, the area setting unit sets the turning area required for turning from one of the outer perimeter straight paths to the next outer perimeter straight path based on the vehicle information of the work vehicle, and the display unit displays the turning area on a screen. [Effects of the Invention]

[0009] The present invention provides an automated driving method and automated driving system that can reduce the burden on the operator and enable smooth harvesting near the corners of a field. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view of a combine harvester according to one embodiment of the present invention. [Figure 2] This is a block diagram of a combine harvester according to one embodiment of the present invention. [Figure 3] This is a plan view showing an example of a field in which a combine harvester according to one embodiment of the present invention operates. [Figure 4] This is a plan view showing an example of a field in which a combine harvester according to one embodiment of the present invention operates. [Figure 5] This is a plan view showing an example of a field in which a combine harvester according to one embodiment of the present invention operates. [Figure 6] This is a plan view showing an example of a work screen displayed on a portable terminal of a combine harvester according to one embodiment of the present invention. [Figure 7] This is a plan view showing an example of a work screen displayed on a portable terminal of a combine harvester according to one embodiment of the present invention. [Figure 8] This flowchart shows an example of the operation of a combine harvester according to one embodiment of the present invention. [Figure 9] This is a plan view showing an example of a field in which a combine harvester according to another example of the present invention is operating. [Figure 10] This is a plan view showing an example of a field in which a combine harvester according to another example of the present invention is operating. [Modes for carrying out the invention]

[0011] The work vehicle of the present invention performs work while traveling in a field. As an example of a work vehicle according to an embodiment of the present invention, a combine harvester 1 will be described with reference to Figure 1, etc. The combine harvester 1 travels in the field to be worked on by automatic or manual operation and performs harvesting work such as cutting in order to harvest crops from grain stalks planted in the field. The combine harvester 1 travels in a straight row of grain stalks, with a predetermined number of rows within the number of rows that can be harvested as the cutting width (working width), and performs harvesting work on those rows.

[0012] Combine harvester 1 is configured to perform automatic operations, such as controlling steering by automatic driving while controlling travel speed in response to manual operation, or unmanned operations, such as controlling steering and travel speed by automatic driving, enabling it to autonomously travel, turn, and work within a field. In this embodiment, the combine harvester 1 operates in one of the following driving modes: manual driving mode, automatic straight-line driving mode, or automatic driving mode.

[0013] When manual driving mode is set, the combine harvester 1 is configured to perform manual driving only or manual driving that includes harvesting, in response to the operator's operation of the control unit 9.

[0014] When the automatic straight-line mode is set, the combine harvester 1 is configured to perform automatic straight-line driving, automatically driving along an automatic straight-line path parallel to a reference line set in the field and automatically harvesting. For example, when the combine harvester 1 performs automatic straight-line driving, each side that makes up the outer shape of the field may be used as a reference line. In addition, after performing automatic straight-line driving along the automatic straight-line path closest to the nearest reference line (the current outermost straight-line path), the combine harvester 1 performs automatic straight-line driving along an inclined path that is inclined relative to the current outermost straight-line path in the turning area necessary to turn to the next outermost straight-line path.

[0015] When the automatic driving mode is set, the combine 1 is configured to perform an automatic cutting operation while automatically driving along the automatically driven path set in the field. For example, in an uncut area (unworked area) with uncut cereal straw in the field, the combine 1 performs an automatic cutting operation in a driving pattern such as reciprocating cutting that reciprocates along a plurality of straight paths, or circular cutting that repeatedly circles a straight path along the inner circumference of the uncut area while shifting it toward the center side. Before performing the automatic cutting operation, the combine 1 performs an outer peripheral cutting operation in which it travels while cutting along the outer peripheral shape of the field to form a headland in the field, and sets the inside of the headland as the working area for the automatic cutting operation.

[0016] As shown in FIG. 1, the combine 1 includes a traveling unit 2, a cutting unit 3 as a working unit, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and a control unit 9, and is configured as a so-called self-threshing combine. While traveling by the traveling unit 2, the combine 1 threshes the cereal straw cut by the cutting unit 3 with the threshing unit 4, sorts the grains with the sorting unit 5, and stores them in the storage unit 6. The combine 1 processes the straw after threshing with the straw disposal unit 7. The combine 1 drives the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw disposal unit 7 by the power supplied by the power unit 8.

[0017] The traveling unit 2 is provided below the machine body frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 by the power (for example, rotational power) transmitted from the engine 27 of the power unit 8 to drive the combine 1 in the front-rear direction or to turn it in the left-right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11 and can also shift the rotational power.

[0018] The mowing unit 3 is provided on the machine body frame 10 in front of the traveling unit 2 and performs mowing operations on rows within the number of rows that can be mowed. The mowing unit 3 includes a divider 13, a lifting device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the cereal straws in the field row by row and guides a predetermined number of cereal straws within the number of rows that can be mowed to the lifting device 14. The lifting device 14 lifts the cereal straws guided by the divider 13. The cutting device 15 cuts the cereal straws lifted by the lifting device 14. The conveying device 16 conveys the cereal straws cut by the cutting device 15 to the threshing unit 4.

[0019] The threshing unit 4 is provided behind the mowing unit 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the cereal straws conveyed from the conveying device 16 of the mowing unit 3 for threshing, and further conveys the cereal straws after threshing, that is, the straw waste, to the straw waste processing unit 7. The threshing cylinder 19 threshes the cereal straws conveyed by the feed chain 18.

[0020] The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a rocking sorting device 21, a blowing sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The rocking sorting device 21 sifts the threshed material that has fallen from the threshing unit 4 to sort it into grains and straw waste, etc. The blowing sorting device 22 further sorts the threshed material sorted by the rocking sorting device 21 into grains and straw waste, etc. by blowing. The grain conveying device conveys the grains sorted by the rocking sorting device 21 and the blowing sorting device 22 to the storage unit 6. The straw waste discharging device discharges the straw waste, etc. sorted by the rocking sorting device 21 and the blowing sorting device 22 outside the machine.

[0021] The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 24 and a discharging device 25. The grain tank 24 stores the grains conveyed from the sorting unit 5. The discharging device 25 is composed of an auger or the like and discharges the grains stored in the grain tank 24 to an arbitrary location.

[0022] The straw removal section 7 is located behind the threshing section 4. The straw removal section 7 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0023] The power unit 8 is located above the traveling unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0024] The control unit 9 is located above the power unit 8. The control unit 9 is located around the driver's seat, where the operator sits, and includes a drive control section for controlling the movement of the combine harvester 1. This section includes a steering wheel for instructing the turning of the combine harvester 1, and a main and sub-speed levers for instructing changes in the forward and reverse speed of the combine harvester 1. The control unit 9 also includes an operation control section for operating the raising and lowering of the harvesting unit 3, harvesting operations by the harvesting unit 3, threshing operations by the threshing unit 4, and discharge operations by the discharge device 25 of the storage unit 6. When manual driving mode is set, the power unit 8 and the drive unit 2 are driven in response to the operation of the drive control section of the control unit 9 to perform manual driving of the combine harvester 1, and the power unit 8 and the harvesting unit 3 are driven in response to the operation of the operation control section to perform manual operations of the combine harvester 1.

[0025] The combine harvester 1 is equipped with a positioning unit 28 that acquires its own position using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna and acquires the position information of the positioning unit 28, i.e., the own position of the combine harvester 1, based on the positioning signals.

[0026] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 2. The control device 30 is composed of a computer such as a CPU and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 32 that communicates with external devices.

[0027] The memory unit 31 stores programs and data for controlling various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the memory unit 31. For example, the control device 30 obtains the position of the combine harvester 1 from the positioning unit 28, and also obtains the direction of travel of the combine harvester 1 at its current position.

[0028] The communication unit 32 can communicate wirelessly with external devices such as a portable terminal 40 held by the worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to communicate wirelessly with the portable terminal 40 and transmits and receives various information between the two devices. For example, the communication unit 32 receives field information set for the field, automatic straight-line routes and inclined routes, or automatic driving routes from the portable terminal 40 and stores them in the storage unit 31.

[0029] For example, as shown in Figures 3 to 5, a field has an outer field shape 50 that follows the perimeter of the field, which includes unworked areas 51 where harvesting or other operations have not yet been performed, and worked areas 52 where operations have already been completed. The field information includes information such as the shape, size, and location (coordinates, etc.) of the outer field shape 50, and the shape, size, and location (coordinates, etc.) of the unworked areas 51 and worked areas 52. The automatic straight-line path 54, inclined path 56, and automatic travel path set for the field include travel information and work information related to operations such as automatic harvesting. The travel information includes the travel position in the field, as well as the direction of travel and set vehicle speed at each travel position. The work information includes information on the operation or stop of various operations such as harvesting at each travel position, and information on the lifting and lowering operation of the harvesting unit 3.

[0030] Furthermore, the control device 30 operates as a driving control unit 35 by executing a program stored in the storage unit 31. The driving control unit 35 implements the outermost perimeter driving process and the inclined driving process of the automatic driving method according to the present invention.

[0031] When the automatic straight-line mode is set, the travel control unit 35 controls the automatic straight-line travel of the combine harvester 1. For example, the travel control unit 35 acquires field information set for the field, and automatic straight-line routes 54 and inclined routes 56 related to the reference line 53 set for the field, from the mobile terminal 40. When the automatic straight-line travel is started in response to the operation of the mobile terminal 40, the travel control unit 35 acquires the position of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, travel unit 2, and harvesting unit 3 so that the combine harvester 1 travels automatically in a straight line along the automatic straight-line route 54 and inclined route 56 based on the position of the combine harvester 1, the field information, and the automatic straight-line routes 54 and inclined routes 56.

[0032] When the automatic driving mode is set, the driving control unit 35 controls the automatic harvesting of the combine harvester 1. For example, the driving control unit 35 acquires field information and automatic driving routes set for the field from the mobile terminal 40. When the automatic harvesting starts in response to the operation of the mobile terminal 40, the driving control unit 35 acquires the position of the combine harvester 1 from the positioning unit 28 and controls the power unit 8, the driving unit 2, and the harvesting unit 3 so that the combine harvester 1 performs automatic harvesting along the automatic driving route based on the position of the combine harvester 1, the field information, and the automatic driving route.

[0033] Furthermore, when the automatic straight-line mode is set, the travel control unit 35 controls the combine harvester 1 to stop automatic straight-line travel in response to the operation of the travel control unit, such as the main gear lever. The travel control unit 35 may also execute an override function in response to steering wheel operation, etc., while the combine harvester 1 is performing automatic straight-line travel to cancel automatic straight-line travel and switch to manual travel. When the combine harvester 1 reaches the end point of the automatic straight-line path 54 (outermost straight-line path 54a, outermost straight-line path) closest to the reference line 53 and stops, the travel control unit 35 may control the power unit 8 and the travel unit 2 to automatically start reverse travel along the outermost straight-line path 54a in response to the reverse operation of the main gear lever. At this time, the combine harvester 1 may notify the operator of the automatic start of reverse travel by display or audio output.

[0034] Furthermore, if the starting point of the inclined path 56 is set in advance, the travel control unit 35 may control the combine harvester 1 to stop reversing when it reaches the starting point of the inclined path 56 by reversing. At this time, the combine harvester 1 may notify the operator by display or voice output that it has automatically stopped reversing. The combine harvester 1 may also perform the reverse travel on the outermost straight path 54a manually. The combine harvester 1 may notify the operator by display or voice output that it has reached the starting point of the inclined path 56 while reversing on the outermost straight path 54a.

[0035] Furthermore, if the automatic straight-line mode is set and an inclined path 56 is set relative to the outermost straight-line path 54a, the travel control unit 35 acquires the inclined path 56 from the mobile terminal 40 and controls the power unit 8, travel unit 2, and harvesting unit 3 so that the combine harvester 1 automatically travels in a straight line along the inclined path 56. When the combine harvester 1 reaches the end point of the inclined path 56 and stops, the travel control unit 35 may control the power unit 8 and travel unit 2 to automatically start reverse travel along the inclined path 56 in response to the reverse operation of the main shift lever. The combine harvester 1 may also perform reverse travel on the inclined path 56 manually. The combine harvester 1 may notify the operator by display or audio output when it has reached the starting point of the inclined path 56 during reverse travel on the inclined path 56.

[0036] When the combine harvester 1 has finished automatic straight-line travel on the current outermost straight-line path 54a, and has also finished harvesting on the inclined path 56 created in the turning area 55 set on the current outermost straight-line path 54a, and the work area 52 has been secured in the turning area 55, it is normally turned by manual travel toward the next outermost straight-line path 54b (outer straight-line path) (see Figure 7), and when the conditions for transitioning to the next automatic straight-line path 54b (for example, the condition that the vehicle's position relative to the next automatic straight-line path 54b is within a predetermined lateral deviation and / or within a predetermined azimuth angle) are met, it automatically, or in response to the operator's start operation of the travel operation unit or input unit 45, transitions to automatic straight-line travel on the next outermost straight-line path 54b and performs harvesting.

[0037] Alternatively, when the combine harvester 1 has finished harvesting along the inclined path 56, the travel control unit 35 may automatically turn towards the next outermost straight path 54b in response to the operation of the mobile terminal 40 or the travel control unit. In this case, after the combine harvester 1 has finished reversing along the last inclined path 56, the travel control unit 35 controls the power unit 8 and the travel unit 2 to automatically turn the combine harvester 1 to the position of the next outermost straight path 54b in the already worked area 52, and then automatically stop when the turn is complete. Alternatively, regardless of the last inclined path 56, the travel control unit 35 controls the power unit 8 and the travel unit 2 to reverse the combine harvester 1 within the range of the already worked area 52, then automatically turn the combine harvester 1 to the position of the next outermost straight path 54b in the already worked area 52, and then automatically stop when the turn is complete. The combine harvester 1 may automatically reverse from the end of the last inclined path 56, or turn to the next outermost straight path 54b, and may also notify the operator by display or voice output when it automatically stops turning. Furthermore, the travel control unit 35 may control the power unit 8, the travel unit 2, and the harvesting unit 3 to automatically travel straight along the next outermost straight path 54b when it has moved to the next outermost straight path 54b.

[0038] Furthermore, when the combine harvester 1 is performing automatic straight-line travel along the inclined path 56, the travel control unit 35 may control the rolling mechanism provided in the travel unit 2 and the lifting device provided in the harvesting unit 3 to raise one side of the harvesting unit 3 in the width direction of the combine harvester 1, while maintaining the other side at the normal harvesting height. Specifically, when one side of the harvesting unit 3 passes through the already worked area 52 and the other side passes through the uncultivated area 51 in the width direction of the combine harvester 1, the travel control unit 35 controls the harvesting unit 3 to raise one side. Then, when one side of the harvesting unit 3 enters the uncultivated area 51, the travel control unit 35 automatically restores the inclination of the harvesting unit 3 to its original position, making the harvesting unit 3 horizontal in the width direction of the combine harvester 1 with respect to the field surface (ground).

[0039] The portable terminal 40 is one of the components of the combine harvester 1 and is a terminal that can remotely control the combine harvester 1. For example, it can be a tablet terminal equipped with a touch panel or a notebook-type personal computer. A similar operating device to the portable terminal 40 may also be provided on the control unit 9. In this invention, the combine harvester 1 and the portable terminal 40 constitute an automated driving system.

[0040] As shown in Figure 2, the mobile terminal 40 is equipped with a terminal-side control unit 41 which is composed of a computer such as a CPU. The terminal-side control unit 41 is connected to a terminal-side storage unit 42 which includes ROM, RAM, a hard disk drive, and flash memory, and a terminal-side communication unit 43 which communicates with external devices. The mobile terminal 40 is also equipped with a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0041] The terminal-side storage unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the terminal-side control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the terminal-side storage unit 42. The terminal-side storage unit 42 stores field information of the field that the combine harvester 1 is working on, as well as the automatic straight-line route 54 and the automatic travel route.

[0042] The terminal-side communication unit 43 is connected to the combine harvester 1's communication unit 32 via a wireless communication antenna. The terminal-side control device 41 controls the terminal-side communication unit 43 to communicate wirelessly with the combine harvester 1 and transmit and receive various information between the two devices.

[0043] The terminal-side control device 41 of the mobile terminal 40 operates as a field selection unit 46, a route creation unit 47, and a display control unit 48 by executing a program stored in the terminal-side storage unit 42. The route creation unit 47 implements the area setting process and route creation process of the automatic driving method according to the present invention, and the display control unit 48 functions as the display process of the automatic driving method according to the present invention.

[0044] The field selection unit 46 manually or automatically selects a field to be operated on by the automated vehicle, sets the outer shape of the field, i.e., the field outline 50, and stores it in the terminal-side storage unit 42. For example, the field selection unit 46 displays a field selection screen (not shown) on the display unit 44 for selecting a field to be operated on. On the field selection screen, if field information including the field outline 50 is already stored in the terminal-side storage unit 42, the field corresponding to that field information can be selected. When any field is selected on the field selection screen in response to a manual operation, the field selection unit 46 selects the selected field as the target of operation and reads the field information corresponding to the selected field from the terminal-side storage unit 42.

[0045] Furthermore, the field selection screen allows for the creation of new fields. When the creation of a new field is selected on the field selection screen, the field selection unit 46 selects the new field at the combine harvester 1's current location as the work target. Then, when the combine harvester 1 circles around the outer perimeter of the new field and performs outer perimeter harvesting, the field selection unit 46 receives the combine harvester 1's current location, which has been determined by the combine harvester 1's positioning unit 28, and records the position information of the outer perimeter of the new field and the position information of the outer perimeter harvesting route. Based on the position information acquired during the outer perimeter harvesting, the field selection unit 46 creates the field outline 50 of the new field, and creates field information including the field outline 50, which is then stored in the terminal-side storage unit 42.

[0046] When the automatic straight-line mode is set, the route creation unit 47 creates an automatic straight-line route 54 based on a predetermined reference line 53, as shown in Figures 3 to 5, stores it in the terminal-side storage unit 42, and transmits it to the combine harvester 1 via the communication unit 32. For example, the route creation unit 47 creates an automatic straight-line route 54 over the entire field, consisting of multiple straight-line routes that are parallel to the reference line 53 and arranged with a spacing equal to the working width of the combine harvester 1 from the reference line 53. The route creation unit 47 takes into consideration that the left-right center of the combine harvester 1 passes through the automatic straight-line route 54, and arranges the automatic straight-line route 54 closest to the reference line 53 (outermost straight-line route 54a) with a spacing equal to half the working width of the combine harvester 1 from the reference line 53, while sequentially spacing the other automatic straight-line routes 54 with a spacing equal to the working width of the combine harvester 1. Alternatively, the route creation unit 47 may create an automatic straight-line route 54 over the entire field, which consists of a straight line parallel to the reference line 53 that passes through the combine harvester 1's own position and a plurality of straight lines arranged from the said straight-line route at intervals corresponding to the combine harvester 1's working width.

[0047] For example, if the combine harvester 1 is set to automatic straight-line mode to perform outer perimeter harvesting to form a headland in the field, the route creation unit 47 creates an automatic straight-line route 54 to perform automatic straight-line running corresponding to the outer perimeter harvesting. At this time, the route creation unit 47 uses each side (outer edge) that constitutes the outer shape 50 of the field as a reference line 53, based on the field information of the field selected by the field selection unit 46. Alternatively, as shown in Figures 3 to 5, the route creation unit 47 may create the automatic straight-line route 54 (outermost straight-line route 54a) by leaving a predetermined safety margin 53a from the reference line 53, which is the outer edge. In this embodiment, the outermost straight-line path 54a among the multiple automatic straight-line paths 54 will be described in detail, therefore, the other automatic straight-line paths 54 will not be shown in Figures 3 to 5.

[0048] Furthermore, the route creation unit 47, when certain creation conditions are met, sets the turning area 55 required for turning from the automatic straight path 54 (the current outermost straight path 54a) closest to the outer edge, which is the reference line 53, to the next outermost straight path 54b, based on the machine information of the combine harvester 1. In other words, the route creation unit 47 functions as an area setting unit for setting the turning area 55. Then, when certain creation conditions are met, the route creation unit 47 creates an inclined path 56 in the turning area 55 that is inclined relative to the current outermost straight path 54a. The route creation unit 47 stores the set turning area 55 in the terminal-side storage unit 42, and also stores the created inclined path 56 in the terminal-side storage unit 42 in association with the turning area 55.

[0049] For example, the route creation unit 47 sets the area connecting the first point on the outer edge which is the current reference line 53, the second point on the outer edge which is the next reference line 53, and the intersection of the current reference line 53 and the next reference line 53 as the turning area 55. At this time, the route creation unit 47 calculates and sets the first distance from the intersection to the first point and the second distance to the second point based on machine information such as the length of the machine and turning radius of the combine harvester 1, so that the combine harvester 1 can turn from the current outermost straight path 54a to the next outermost straight path 54b without coming into contact with the field outline 50 or the unworked area 51. Alternatively, the route creation unit 47 may set the second point on the outer edge which is the next reference line 53 by setting a second distance from the intersection to a predetermined number of working widths of the combine harvester 1 (for example, four widths). Alternatively, the route creation unit 47 may set the turning area 55 in accordance with setting operations via a predetermined display screen shown on the display unit 44, and for example, make it possible to set a first point and a second point.

[0050] In contrast to the already worked area 52 formed by automatic straight-line driving based on the current outermost straight-line path 54a, there remains unworked land 51 along the next outermost straight-line path 54b. The path creation unit 47 sets the starting point of the inclined path 56 on the current outermost straight-line path 54a and creates a predetermined number of inclined paths 56 that are inclined at a predetermined angle toward the unworked land 51 of the next outermost straight-line path 54b. In other words, the path creation unit 47 creates inclined paths 56 for harvesting the unworked land 51 in the turning area 55.

[0051] The route creation unit 47 creates the inclined route 56 by setting the endpoint of the inclined route 56, setting the starting point corresponding to the endpoint, and then selecting and connecting the starting and endpoints. The route creation unit 47 sets the endpoint of the inclined route 56 in the area excluding the already worked area 52 formed by automatic straight-line travel based on the current outermost straight-line route 54a within the turning area 55, that is, in the unworked area 51 within the turning area 55. For example, the route creation unit 47 sets the endpoints of each inclined route 56 on the next outermost straight-line route 54b, leaving a gap equal to the working width of the combine harvester 1. The route creation unit 47 takes into consideration that the left-right center of the combine harvester 1 passes through the inclined route 56, and for the inclined route 56 closest to the current outermost straight-line route 54a, it sets the endpoint with a gap equal to the working width of the combine harvester 1 from the current outermost straight-line route 54a, and for subsequent inclined routes 56, it sets the endpoints with a gap equal to the working width of the combine harvester 1 in order.

[0052] The route creation unit 47 sets the starting point of the inclined route 56 at a position at least a predetermined minimum distance from the end point of the current outermost straight route 54a. The route creation unit 47 allows the user to select between two starting point setting modes for setting the starting point of the inclined route 56: a default position mode, which sets the starting point at a predetermined distance from the end point of the current outermost straight route 54a, and a vehicle position mode, which sets the starting point at the vehicle position of the combine harvester 1. The starting point setting mode can be selected, for example, by selecting it via a predetermined display screen displayed on the display unit 44.

[0053] When the default position mode is selected, the route creation unit 47 calculates the minimum predetermined number of inclined paths 56 necessary for harvesting the unworked land 51 in the turning area 55. For example, the route creation unit 47 calculates the predetermined number of inclined paths 56 based on the turning area 55 and the machine information of the combine harvester 1. The route creation unit 47 also sets corresponding starting points for each endpoint of the predetermined number of inclined paths 56 set in the unworked land 51 within the turning area 55. At this time, in order to harvest over the entire area of ​​the unworked land 51 in the turning area 55, the route creation unit 47 sets each starting point so that the predetermined number of inclined paths 56 are arranged without gaps in the unworked land 51, and creates the predetermined number of inclined paths 56 connecting each starting point and each endpoint. The route creation unit 47 may set different starting points for each inclined path 56, as shown in Figures 3 and 4, or it may set a common starting point for each inclined path 56, as shown in Figure 5.

[0054] For example, the route creation unit 47 may set the distance from the end point of the current outermost straight route 54a to the starting point of each inclined route 56 to a predetermined value. Alternatively, the route creation unit 47 may calculate the distance to the starting point of each inclined route 56 based on machine information such as the working width, machine length, and turning radius of the combine harvester 1. For example, the route creation unit 47 may set a predetermined angle for each inclined route 56, thereby setting the starting point of each inclined route 56 based on the current outermost straight route 54a, the end point of the inclined route 56, and the predetermined angle. The route creation unit 47 may set the predetermined angle of each inclined route 56 to a predetermined value based on the machine information of the combine harvester 1, or it may be possible to set the predetermined angle of each inclined route 56 in response to setting operations via a predetermined display screen displayed on the display unit 44 or by operating a physical switch provided on the input unit 45.

[0055] Furthermore, as shown in Figures 3 and 5, the path creation unit 47 creates inclined paths 56a, 56b, and 56c by connecting the starting point of an inclined path 56 that is close to the end point of the current outermost straight path 54a with the end point of an inclined path 56 that is close to the end point of the current outermost straight path 54a. In other words, it creates inclined paths 56c, 56b, and 56a by connecting the starting point of an inclined path 56 that is far from the end point of the current outermost straight path 54a with the end point of an inclined path 56 that is far from the end point of the current outermost straight path 54a. Alternatively, as shown in Figure 4, the path creation unit 47 may create inclined paths 56a, 56b, and 56c by connecting the starting point of an inclined path 56 that is close to the end point of the current outermost straight path 54a with the end point of an inclined path 56 that is far from the end point of the current outermost straight path 54a. In other words, it may create inclined paths 56c, 56b, and 56a by connecting the starting point of an inclined path 56 that is far from the end point of the current outermost straight path 54a with the end point of an inclined path 56 that is close to the end point of the current outermost straight path 54a.

[0056] The route creation unit 47 may pre-set the travel order for harvesting for a predetermined number of created inclined paths 56 and store it in the terminal-side storage unit 42 in association with the inclined paths 56. For example, the route creation unit 47 sets the travel order of a predetermined number of inclined paths 56 in order of the starting point of each inclined path 56 being closest to the current outermost straight path 54a. Specifically, in the example shown in Figures 3 to 5, the travel order is set to inclined paths 56a, 56b, and 56c. Alternatively, the route creation unit 47 sets the travel order of a predetermined number of inclined paths 56 in order of the starting point of each inclined path 56 being furthest from the current outermost straight path 54a. Specifically, in the example shown in Figures 3 to 5, the travel order is set to inclined paths 56c, 56b, and 56a. Or, the route creation unit 47 may enable setting the travel order of a predetermined number of inclined paths 56 in response to a setting operation via a predetermined display screen displayed on the display unit 44.

[0057] When the self-position mode is selected, the route creation unit 47 sets the starting point of the inclined route 56 at the self-position of the combine harvester 1 on the current outermost straight route 54a. Specifically, the route creation unit 47 sets the starting point at the position where the combine harvester 1 stops after performing harvesting operations on the current outermost straight route 54a by automatically or manually driving and reaching the end point of the current outermost straight route 54a, and then performing reverse operations on the current outermost straight route 54a.

[0058] The route creation unit 47 then creates an inclined path 56 connecting the endpoint of the inclined path 56 closest to the completed work area 52, which includes the current outermost straight path 54a, from among the endpoints of a predetermined number of inclined paths 56 set in the unworked area 51 within the turning area 55, to a starting point based on the vehicle's position. Next, after the combine 1 finishes harvesting along the inclined path 56, the route creation unit 47 creates an inclined path 56 connecting the endpoint of the inclined path 56 next closest to the completed work area 52, which includes the current outermost straight path 54a, to a starting point based on the vehicle's position. In this way, the route creation unit 47 sequentially selects the endpoints of each inclined path 56 set in the unworked area 51 within the turning area 55 and creates inclined paths 56 connected to the starting point based on the vehicle's position.

[0059] Furthermore, regardless of the starting point setting mode, the route creation unit 47 should set the starting point of the inclined route 56 such that the combine harvester 1 placed at the starting point of the inclined route 56 does not overlap with the field outline 50 when tilted at a predetermined angle of the inclined route 56. For example, the route creation unit 47 uses simulation to align the center of the combine harvester 1 with the starting point of the inclined route 56, tilts the combine harvester 1 at a predetermined angle of the inclined route 56, and further calculates the positional information of the combine harvester 1's body outline based on the combine harvester 1's body length and width. The route creation unit 47 then uses simulation to determine whether or not the positional information of the combine harvester 1's body outline overlaps with the field outline 50.

[0060] Furthermore, the closer the starting point of the inclined path 56 is to the end point of the outermost straight path 54a, the larger the predetermined angle with respect to the outermost straight path 54a becomes. The larger the predetermined angle with respect to the outermost straight path 54a, the more likely the shape of the combine harvester 1 is to overlap with the field outline 50. Therefore, if the path creation unit 47 determines that the positional information of the combine harvester 1's shape overlaps with the field outline 50, it increases the distance between the end point of the outermost straight path 54a and the starting point of the inclined path 56 to reset the starting point of the inclined path 56 so that the shape of the combine harvester 1 does not overlap with the field outline 50.

[0061] Furthermore, the route creation unit 47 sets predetermined creation conditions for setting the turning area 55 and creating the inclined route 56 as the timing when the combine harvester 1 reaches the end point of the outermost straight route 54a (outermost straight route 54a) by automatic straight travel or manual travel based on the automatic straight route 54 (outermost straight route 54a) closest to one outer edge of the field which serves as the reference line 53. Alternatively, the route creation unit 47 may set predetermined creation conditions as the timing when the combine harvester 1 starts automatic straight travel or manual travel on the outermost straight route 54a, the timing when the combine harvester 1 has traveled a predetermined distance or time on the outermost straight route 54a, or the timing when the combine harvester 1 has traveled a predetermined distance or time after reaching the end point of the outermost straight route 54a.

[0062] Alternatively, the route creation unit 47 may obtain the field outline 50 by acquiring field information of the field to be operated by the field selection unit 46, and the timing at which the outermost straight route 54a is created and set based on the field outline 50 may be set as a predetermined creation condition.

[0063] Furthermore, the path creation unit 47 may, when the combine harvester 1 has finished harvesting along the inclined path 56 created in the turning area 55 set on the current outermost straight path 54a, and a work area 52 has been secured in the turning area 55, create a reverse path for the combine harvester 1 to reverse along the last inclined path 56, or a reverse path for the combine harvester 1 to reverse within the range of the work area 52 regardless of the last inclined path 56, or it may create a turning path for the combine harvester 1 to automatically turn from the end point of the reverse path to the position of the next outermost straight path 54b in the work area 52.

[0064] Furthermore, if the automatic driving mode is set, the route creation unit 47 creates an automatic driving route (not shown) for automatically harvesting the field selected by the field selection unit 46, stores it in the terminal-side storage unit 42, and transmits it to the combine harvester 1 via the terminal-side communication unit 43. The route creation unit 47 creates multiple straight-line routes for harvesting while driving in the forward direction, according to the driving pattern (reciprocal harvesting or circular harvesting) selected by the operation of the mobile terminal 40 for the field, and creates an automatic driving route by combining the multiple straight-line routes and multiple turning routes that connect each straight-line route.

[0065] After the field to be worked on is selected by the field selection unit 46, the display control unit 48 controls the display unit 44 to display a work screen 60 for harvesting around the perimeter of the field, as shown in Figure 6, if manual driving mode or automatic straight-line driving mode is set. The display control unit 48 displays at least a map section 61 on the work screen 60 and makes the drive start button 62 operable. In the map section 61, the display control unit 48 displays the outline 50 of the field on the map based on the field information of the field, and further displays the vehicle marking 63 of the combine harvester 1 at the vehicle position of the combine harvester 1 determined by the positioning unit 28 of the combine harvester 1. The display control unit 48 may display unworked areas 51 and worked areas 52 within the range of the field outline 50 in a distinguishable manner by changing the display method such as line type, line color, and background color. The display control unit 48 updates the position of the vehicle marking 63 and the ranges of the unworked area 51 and the completed area 52 according to the progress of the combine harvester 1's harvesting run.

[0066] When the automatic straight-line mode is set, the display control unit 48 displays the automatic straight-line route 54 created by the route creation unit 47 overlaid on the field outline 50 in the map section 61 of the work screen 60. For example, when the combine harvester 1 performs automatic straight-line travel along the outermost straight-line route 54a, which is the automatic straight-line route 54, the display control unit 48 displays the outermost straight-line route 54a.

[0067] The display control unit 48 enables the selection of the start button 62 to begin automatic straight-line travel if the start conditions for the outermost straight-line travel path 54a are met, while disabling the start button 62 if the start conditions are not met. When the start button 62 is selected, the display control unit 48 transmits field information and information about the outermost straight-line travel path 54a to the combine harvester 1 along with an instruction to start automatic straight-line travel along the outermost straight-line travel path 54a. In response to the start instruction, the combine harvester 1 begins automatic straight-line travel along the outermost straight-line travel path 54a. For example, the start conditions for the outermost straight-line travel path 54a may be that the combine harvester 1 is positioned near the starting point on the outermost straight-line travel path 54a and facing the direction of travel on the outermost straight-line travel path 54a.

[0068] When the combine harvester 1 is performing automatic straight-line travel along the outermost straight-line path 54a, the display control unit 48 may overlay the turning area 55, which has been set by the path creation unit 47 for the outermost straight-line path 54a, onto the field outline 50 in the map section 61. The display control unit 48 may also accept a setting operation on the work screen 60 or other setting screen to determine whether or not to display the turning area 55. The display control unit 48 may also accept a setting operation on the work screen 60 or other setting screen to determine whether or not to display the turning area 55.

[0069] When manual driving mode or automatic straight driving mode is set, the display control unit 48 displays the sloped route 56 created by the route creation unit 47 superimposed on the field outline 50 in the map section 61. The display control unit 48 accepts the selection of the starting point setting mode for the sloped route 56 on the work screen 60 or other setting screens. The display control unit 48 may also accept the setting of a predetermined angle for the sloped route 56 on the work screen 60 or other setting screens, for example, by operating a physical switch such as a dial switch provided in the input unit 45 or by touching a touch panel that functions as the input unit 45.

[0070] The display control unit 48 displays multiple inclined paths 56 created for the turning area 55 when the starting point setting mode for the inclined path 56 is the default position mode, and displays the inclined path 56 based on the combine harvester 1's own position when the mode is the own position mode. The display control unit 48 may clear the display of inclined paths 56 for which harvesting has been completed. In addition, when the default position mode is selected, the display control unit 48 may accept an operation to set the travel order of a predetermined number of created inclined paths 56 on the work screen 60 or other setting screens. Alternatively, the display control unit 48 may display a selectable number of created inclined paths 56 on the work screen 60 or other setting screens, allowing the user to select an inclined path 56 for automatic straight-line travel. The display control unit 48 may also allow the user to select whether to travel the predetermined number of inclined paths 56 in the set travel order or in the selected order, according to a predetermined operation on the work screen 60 or other setting screens. The display control unit 48 may display only the inclined paths 56 that are used for automatic straight-line travel, out of a predetermined number of inclined paths 56.

[0071] The display control unit 48 enables the selection of the start button 62 to begin automatic straight-line travel if the start conditions for the inclined path 56 are met, while disabling the start button 62 if the start conditions are not met. When the start button 62 is selected, the display control unit 48 transmits field information and information about the inclined path 56 to the combine harvester 1 along with an instruction to start automatic straight-line travel along the inclined path 56. In response to the start instruction, the combine harvester 1 begins automatic straight-line travel along the inclined path 56.

[0072] For example, the starting condition for the inclined path 56 may be that the combine harvester 1 is positioned near the starting point on the inclined path 56 and facing a predetermined angle of the inclined path 56. In this case, the combine harvester 1 is moved from the outermost straight path 54a to the starting point of the inclined path 56 in response to manual operation, and the combine harvester 1 is turned so that its orientation is at the predetermined angle of the inclined path 56. The combine harvester 1 may gradually turn to change its orientation to the predetermined angle, or it may change its orientation to the predetermined angle by pivot turning. The allowable error between the orientation of the combine harvester 1 and the predetermined angle of the inclined path 56 should be set to the minimum possible.

[0073] Normally, if the combine harvester 1 is overlapping the field outline 50, it is determined that the conditions for starting automatic straight-line travel are not met. However, if the orientation of the combine harvester 1 is aligned with the predetermined angle of the inclined path 56, it may be determined that the conditions for starting the inclined path 56 are met even if the combine harvester 1 is overlapping the field outline 50.

[0074] Alternatively, as a starting condition for the inclined path 56, the combine harvester 1 may start automatic straight-line travel along the inclined path 56 in response to an operation of the work operation unit that lowers the harvesting unit 3 to the harvesting position, regardless of the operation of the travel start button 62, when it is positioned near the starting point on the inclined path 56 and facing a predetermined angle of the inclined path 56.

[0075] Alternatively, the starting condition for the inclined path 56 may be that the combine harvester 1 is traveling in reverse on the outermost straight path 54a behind the starting point of the inclined path 56. In this case, in response to the start command, the combine harvester 1 is controlled to automatically travel forward on the outermost straight path 54a to the starting point of the inclined path 56, then automatically turn toward the inclined path 56 near the starting point of the inclined path 56, and then automatically travel in a straight line along the inclined path 56. The combine harvester 1 may be controlled to change its direction while using the outermost straight path 54a and the inclined path 56 as a path from the outermost straight path 54a to the inclined path 56, or it may be controlled to use the inclined path 56 as is and create a new path that turns from the outermost straight path 54a to the inclined path 56.

[0076] When the display control unit 48 finishes automatic straight-line travel on the current outermost straight path 54a, and further finishes harvesting travel on the inclined path 56 created in the turning area 55 set on the current outermost straight path 54a, and the work area 52 has been secured in the turning area 55, as shown in Figure 7, the display control unit 48 clears the display of the current outermost straight path 54a and the inclined path 56 on the work screen 60 and displays the next outermost straight path 54b. In addition, when the display control unit 48 automatically moves the combine 1 to the next outermost straight path 54b, it may display a reverse path for reverse travel from the end point of the last inclined path 56, or a turning path for turning from the end point of the reverse path to the next outermost straight path 54b. The display control unit 48 may allow the operator to select whether or not to display the reverse path or the turning path.

[0077] Furthermore, when the combine harvester 1 has finished its outer perimeter harvesting run and the automatic driving mode is set, the display control unit 48 displays the automatic driving route (not shown) created by the route creation unit 47 overlaid on the field outline 50 in the map section 61 of the work screen 60.

[0078] Next, an example of the operation of the combine harvester 1 of this embodiment during outer perimeter harvesting will be explained with reference to the flowchart in Figure 8.

[0079] Assume that the combine harvester 1 is set to automatic straight-line mode as the travel mode, and the starting point setting mode for the inclined path 56 is set to default position mode. First, the field selection unit 46 in the portable terminal 40 selects the field to be worked on from the field information that has been set in advance and stored in the terminal-side memory unit 42, and the path creation unit 47 creates an automatic straight-line path 54 parallel to the outer edge of the field, and the automatic straight-line path 54 includes the outermost straight-line path 54a (step S1).

[0080] In response to the operation of the start button 62 on the work screen 60 of the mobile terminal 40, the combine harvester 1 starts automatic straight-line travel along the outermost straight path 54a (step S2). When it reaches the end of the outermost straight path 54a (step S3: Yes), it stops automatic straight-line travel in response to the operation of the travel control unit (step S4). At this time, the path creation unit 47 sets the turning area 55 with respect to the outermost straight path 54a where automatic straight-line travel was performed, and creates a predetermined number of inclined paths 56 (step S5). The combine harvester 1 then selects an inclined path 56 for harvesting from the predetermined number of inclined paths 56 based on the set travel order, for example, selecting the inclined path 56 closest to the outermost straight path 54a.

[0081] Furthermore, in response to the operation of the travel control unit, the combine harvester 1 starts reversing from the end of the outermost straight path 54a (step S6), passes the starting point of the inclined path 56, and then stops reversing in response to the operation of the travel control unit. In response to manual operation of the travel control unit, the combine harvester 1 moves to the starting point of the inclined path 56 (step S7), and then turns so that the direction of the combine harvester 1 is at a predetermined angle to the inclined path 56.

[0082] In response to the operation of the start button 62 on the work screen 60 of the mobile terminal 40, the combine harvester 1 starts automatic straight-line travel along the inclined path 56 (step S8), and when it reaches the end of the inclined path 56 (step S9: Yes), it stops automatic straight-line travel in response to the operation of the travel control unit (step S10). In addition, in response to the operation of the travel control unit, the combine harvester 1 starts reverse travel from the end of the inclined path 56 (step S11), and when it reaches the starting point of the inclined path 56, it stops reverse travel in response to the operation of the travel control unit.

[0083] Furthermore, if there is an inclined path 56 that is not being harvested (Step S12: Yes), the combine harvester 1 selects the inclined path 56 that is next closest to the outermost straight path 54a as the inclined path 56 to be harvested, based on the set travel order, and repeats the harvesting of the inclined path 56 as described above (Step S7). Furthermore, if there is no inclined path 56 that is not being harvested (Step S12: No), and there is another outermost straight path 54b that is not being automatically driven straight (Step S13: Yes), the combine harvester 1 will turn and move to the next outermost straight path 54b in response to manual operation of the travel control unit (Step S14). When the conditions for transitioning to the next automatic straight path 54b (for example, the condition that the vehicle's position relative to the next automatic straight path 54b is within a predetermined lateral deviation and / or within a predetermined azimuth angle) are met, the combine harvester 1 will automatically, or in response to a start operation of the travel control unit or input unit 45 by the operator, transition to automatic straight driving on the next outermost straight path 54b and perform harvesting (Step S2). If there is no next outermost straight path 54b that is not being automatically driven straight (Step S13: No), the combine harvester 1 will terminate its operation. Alternatively, if there is no next outermost straight path 54b that is not automatically traveled in a straight line (Step S13: No), the combine harvester 1 may automatically switch to the automatic straight path 54 (the automatic straight path 54 for the second lap and beyond) for circling inside the outermost straight path 54a.

[0084] Furthermore, in the above-described example of outer-perimeter harvesting travel, the combine harvester 1 may perform operations that involve operator intervention automatically via the travel control unit 35, regardless of operator intervention. For example, during automatic straight-line travel on the outermost straight path 54a (step S2), the combine harvester 1 may automatically stop the automatic straight-line travel when it detects that it has reached the end point of the outermost straight path 54a (step S3: Yes) (step S4). The combine harvester 1 may automatically reverse from the end point of the outermost straight path 54a (step S6) when it detects that it has stopped at the end point of the outermost straight path 54a, and may also automatically stop the reverse travel when it detects that it has passed the starting point of the inclined path 56. The combine harvester 1 may automatically move to the starting point of the inclined path 56 (step S7) when it detects that it has stopped the previous reverse travel, and may also automatically turn the inclined path 56 to a predetermined angle.

[0085] Furthermore, the combine harvester 1 may start automatic straight-line travel along the inclined path 56 (step S8) when it is ready at the starting point of such an inclined path 56, and may also automatically stop automatic straight-line travel when it detects that it has reached the end point of the inclined path 56 (step S9: Yes) (step S10). The combine harvester 1 may also automatically reverse travel from the end point of the inclined path 56 (step S11) when it detects that it has stopped at the end point of the inclined path 56, and may also automatically stop reverse travel when it detects that it has reached the starting point of the inclined path 56 during reverse travel. In addition, the combine harvester 1 may automatically move to the next outermost straight-line path 54b when it detects that harvesting has been completed on all inclined paths 56.

[0086] As described above, according to this embodiment, the combine harvester 1 is a work vehicle that automatically travels in a field and is equipped with a control device 30 and a portable terminal 40, the portable terminal 40 being equipped with a terminal-side control device 41. The control device 30 functions as a travel control unit 35, and the terminal-side control device 41 functions as a route creation unit 47. The travel control unit 35 controls the combine harvester 1 to travel along a plurality of outermost straight paths 54a along each of the plurality of sides that constitute the outer shape 50 of the field. The route creation unit 47 sets the turning area 55 required for turning from one outermost straight path 54a to the next outermost straight path 54b based on the machine information of the combine harvester 1. Furthermore, the route creation unit 47 creates a predetermined number of inclined paths 56 in the turning area 55, which are inclined at a predetermined angle with respect to the outermost straight path 54a, starting from a predetermined starting point set on the outermost straight path 54a and moving toward the unworked area 51 adjacent to the completed work area 52 formed by travel based on the outermost straight path 54a. The travel control unit 35 controls the vehicle to automatically travel in a straight line along the inclined paths 56.

[0087] In other words, in the present invention, the automatic driving method for a work vehicle such as a combine harvester 1 that drives automatically in a field includes: an outermost perimeter driving step of driving along a plurality of outermost straight paths 54a along each of the plurality of sides constituting the outer shape 50 of the field; an area setting step of setting a turning area 55 necessary for turning from one outermost straight path 54a to the next outermost straight path 54b based on the machine information of the combine harvester 1; a path creation step of creating a predetermined number of inclined paths 56 inclined at a predetermined angle with respect to the outermost straight path 54a in the turning area 55, starting from a predetermined starting point set on one outermost straight path 54a and moving toward an unworked area 51 adjacent to the already worked area 52 formed by driving based on one outermost straight path 54a; and an inclined driving step of performing automatic straight driving along the inclined paths 56.

[0088] As a result, the combine harvester 1 automatically sets an inclined path 56 for the turning area 55 and automatically travels in a straight line along the set inclined path 56 for the turning area 55, thereby reducing the operator's burden of setting the inclined path 56 and traveling along it. In addition, since the turning area 55 can be efficiently secured as an existing work area 52, it is possible to smoothly transition from the first outermost straight line path 54a to the next outermost straight line path 54b, shortening the time required for outer-perimeter harvesting and improving work efficiency.

[0089] Furthermore, according to this embodiment, the route creation unit 47 creates an inclined route 56 when it reaches the endpoint of the outermost straight route 54a by traveling along the outermost straight route 54a.

[0090] This allows the combine harvester 1 to create the sloping path 56 after more accurately determining the outline of the field 50.

[0091] Furthermore, according to this embodiment, the path creation unit 47 acquires the field outline 50 and, when it sets the outermost straight path 54a based on the field outline 50, creates an inclined path 56.

[0092] This allows the combine harvester 1 to anticipate the inclined path 56 in advance and to smoothly transition to the inclined path 56.

[0093] Furthermore, according to this embodiment, the path creation unit 47 creates a plurality of inclined paths 56 that are each inclined at a predetermined angle different from one outermost straight path 54a, and the combine harvester 1 can select from among the plurality of inclined paths 56 to be automatically driven on according to a predetermined selection operation.

[0094] This allows for the selection of the inclined path 56 to be traveled, thereby increasing the flexibility of the work.

[0095] Furthermore, according to this embodiment, the route creation unit 47 creates a plurality of inclined routes 56 that are each inclined at a predetermined angle different from one outermost straight route 54a, and sets a travel order for automatic travel along the plurality of inclined routes 56.

[0096] This reduces the operational burden on workers required to set the inclined path 56 and travel along the inclined path 56, thereby improving work efficiency.

[0097] Furthermore, according to this embodiment, the path creation unit 47 makes it possible to set a predetermined angle of the inclined path 56 according to a predetermined setting operation.

[0098] This allows for setting a predetermined angle for the inclined path 56 to be traveled, thereby improving the flexibility of the work.

[0099] Furthermore, according to this embodiment, the path creation unit 47 sets a predetermined angle of the inclined path 56 according to the working width of the combine harvester 1.

[0100] This allows the predetermined angle of the inclined path 56 to be appropriately set to match the combine harvester 1, reducing the operational burden on the worker required to set the inclined path 56 and improving work efficiency.

[0101] Furthermore, according to this embodiment, the path creation unit 47, after reaching the end point of the outermost straight path 54a by moving forward based on the outermost straight path 54a, moves backward and sets a predetermined starting point at the position where the combine 1 is stopped, and creates an inclined path 56.

[0102] This allows for the creation of an inclined path 56 according to the worker's intended position, thereby improving the degree of freedom in the work.

[0103] Furthermore, according to this embodiment, the path creation unit 47 sets a predetermined starting point so that the combine harvester 1 does not overlap with the field outline 50 when the combine harvester 1 is tilted at a predetermined angle, and creates an inclined path 56.

[0104] This prevents the combine harvester 1 from coming into contact with the ridges or other structures outside the field.

[0105] Furthermore, according to this embodiment, the terminal-side control device 41 functions as a display control unit 48 that displays the outermost straight path 54a being traveled on a display screen such as the work screen 60. When the display control unit 48 has secured a work area 52 in the turning area 55 by automatically traveling along the inclined path 56 created in the turning area 55 set on the first outermost straight path 54a, it displays the next outermost straight path 54b on the work screen 60.

[0106] As a result, when the existing work area 52 is secured in the turning area 55 for the current outermost straight path 54a, the next outermost straight path 54b is displayed on the work screen 60, allowing for a smooth transition to automatic straight travel on the next outermost straight path 54b and improving work efficiency.

[0107] In the above-described embodiment, an example is described in which the route creation unit 47 sets the outermost straight path 54a by creating multiple automatic straight paths 54 along a reference line 53 based on one of the outer edges of the field outline 50. However, the present invention is not limited to this example. In other examples, the route creation unit 47 may create multiple outermost straight paths 54a along multiple reference lines 53 based on multiple outer edges that constitute the field outline 50.

[0108] Furthermore, in the embodiments described above, an example was explained in which the path creation unit 47 creates a straight inclined path 56, as shown in Figures 3 to 5, but the present invention is not limited to this example. In other examples, the path creation unit 47 may create an inclined path 56 having both straight lines and curves, or a curved inclined path 56.

[0109] In the embodiment described above, once the combine harvester 1 completes automatic straight-line travel along the inclined paths 56a, 56b, and 56c relative to the outermost straight-line path 54a, the completed work area 52 is expanded, as shown in Figures 9 and 10. However, even with this expanded completed work area 52, it may not be sufficient as a turning area for the automatic straight-line path 54 inside the outermost straight-line path 54a (the automatic straight-line path 54 for the second and subsequent laps).

[0110] In other examples, as shown in Figures 9 and 10, the path creation unit 47 creates an inclined path 56d in the automatic straight path 54 (automatic straight path 54 from the second lap onward) inside the outermost straight path 54a, in order to turn from the first automatic straight path 54c to the next automatic straight path 54d. That is, the starting point of the inclined path 56d is set at the end point of the first automatic straight path 54c. The path creation unit 47 also creates a reverse path 57 that moves backward from the end point of the inclined path 56d toward the extension of the next automatic straight path 54d.

[0111] For example, as shown in Figure 9, the route creation unit 47 creates a gently sloping route 56d relative to the first automatic straight route 54c, passing through the previously worked area 52 without disturbing the field, from the end point of the first automatic straight route 54c towards the next automatic straight route 54d. In such a sloping route 56d, automatic straight-line travel is performed with the harvesting unit 3 raised. Alternatively, as shown in Figure 10, the route creation unit 47 creates a sloping route 56d that involves harvesting the untouched area 51, from the end point of the first automatic straight route 54c towards the next automatic straight route 54d.

[0112] The route creation unit 47 creates an inclined route 56d and a reverse route 57 at the start or during the execution of an automatic straight-line travel on an automatic straight-line route 54c, or at the end of the unworked area 51 (when mowing is complete).

[0113] The route creation unit 47 may automatically set the endpoint of one automatic straight-line route 54c, which will be the starting point of the inclined route 56d, based, for example, on the positional relationship between the unworked area 51 and the worked area 52. Alternatively, the route creation unit 47 may determine the position where the operator raises the harvesting unit 3, or the position where the harvesting unit 3 no longer detects unharvested grain stalks by the sensor, as the end of the unworked area 51 (when it has been cut through) during the automatic straight-line travel of one automatic straight-line route 54c, and set it as the endpoint of one automatic straight-line route 54c. Note that, as shown in Figure 9, when the route creation unit 47 creates an inclined route 56d that passes through the worked area 52, it may set the endpoint of one automatic straight-line route 54c on the forward side of the position where the unworked area 51 has been cut through.

[0114] The route creation unit 47 sets the endpoint of the inclined route 56d to a position that crosses the extension of the next automatic straight route 54d and is within the already worked area 52. When the route creation unit 47 creates an inclined route 56d that involves harvesting, as shown in Figure 10, it sets the endpoint of the inclined route 56d so that the harvesting is performed within the working width of the combine harvester 1 from the boundary between the unworked area 51 and the already worked area 52.

[0115] The route creation unit 47 may set a predetermined angle of the inclined route 56d to a default value based on the machine information of the combine harvester 1, or it may be set according to setting operations via a predetermined display screen displayed on the display unit 44 or by operating a physical switch provided on the input unit 45. When setting the predetermined angle of the inclined route 56d according to operations by an operator, it is advisable to set an upper limit on the predetermined angle according to the machine information of the combine harvester 1 and the vehicle speed set for one automatic straight route 54c.

[0116] The route creation unit 47 sets the starting point of the reverse route 57 to the position of the end point of the inclined route 56d, and sets the end point of the reverse route 57 to a position within the already worked area 52 on the extension of the next automatic straight route 54d. As shown in Figures 9 and 10, the route creation unit 47 creates a reverse route 57 that passes through the already worked area 52 and is gentle in relation to both the inclined route 56d and the next automatic straight route 54d.

[0117] The path creation unit 47 may create a straight inclined path 56d or a reverse path 57, or it may create an inclined path 56d or a reverse path 57 that has both straight and curved sections, or a curved inclined path 56d or a reverse path 57.

[0118] When the combine harvester 1 reaches the end point of the automatic straight-line path 54c described above, the travel control unit 35 stops the automatic straight-line travel of the automatic straight-line path 54c in response to the operation of the travel control unit, or automatically. When the end point of the automatic straight-line path 54c is reached, or before it is reached, the travel control unit 35 may notify the operator by display or audio output that the starting point of the inclined path 56 has been reached.

[0119] When the travel control unit 35 stops automatic straight-line travel on one automatic straight-line path 54c, it starts automatic straight-line travel on the inclined path 56d in response to or automatically by the operator's start operation of the travel operation unit or input unit 45. Alternatively, when the travel control unit 35 finishes automatic straight-line travel on one automatic straight-line path 54c, it may automatically start automatic straight-line travel on the inclined path 56d without stopping. In this case, the travel control unit 35 should be controlled to decelerate based on the inclined path 56d before reaching the end of the automatic straight-line path 54c and then transition to automatic straight-line travel on the inclined path 56d. Furthermore, if the operator manually operates the travel operation unit (for example, by operating a switch or steering wheel) to switch to manual travel before stopping automatic straight-line travel on one automatic straight-line path 54c, the travel control unit 35 may switch from automatic travel to manual travel without stopping. This allows manual travel on an inclined path 56d to be performed without stopping the combine 1. Furthermore, when the combine harvester 1 reaches the end of the inclined path 56d during automatic straight-line travel on the inclined path 56d, the travel control unit 35 stops the automatic straight-line travel on the inclined path 56d either in response to the operation of the travel control unit or automatically.

[0120] When the travel control unit 35 stops automatic straight travel on the inclined path 56d, it automatically performs reverse travel on the reverse path 57 in response to the operator's start operation on the travel control unit or input unit 45. The combine harvester 1 may determine that it is switching from one automatic straight travel path 54c to another automatic straight travel path 54d when performing reverse travel on the reverse path 57, and the display control unit 48 may switch the display of the automatic straight travel path 54c on the work screen 60 to the other automatic straight travel path 54d. Furthermore, when the combine harvester 1 reaches the end of the reverse path 57 during automatic travel on the reverse path 57, the travel control unit 35 automatically stops manual or automatic travel on the reverse path 57 in response to the operation on the travel control unit.

[0121] When the driving control unit 35 stops automatic driving on the reverse path 57, it transitions to automatic straight driving on the next automatic straight path 54d. Alternatively, when the driving control unit 35 stops automatic driving on the reverse path 57 and the conditions for transitioning to the next automatic straight path 54d are met (for example, the condition that the vehicle's position relative to the next automatic straight path 54d is within a predetermined lateral deviation and / or within a predetermined azimuth angle), it automatically transitions to automatic straight driving on the next automatic straight path 54d, or in response to a start operation by the operator on the driving operation unit or input unit 45.

[0122] Furthermore, the travel control unit 35 may be configured to allow the operator to select whether to manually or automatically control the travel and stopping of the inclined path 56d and the reverse path 57, respectively.

[0123] Furthermore, when the combine harvester 1 is performing automatic straight-line driving on the inclined path 56d, automatic reverse driving, or automatic reverse driving on the reverse path 57, the driving control unit 35 controls the driving so that the combine harvester 1 does not veer off the field.

[0124] In the embodiments described above, an example of a combine harvester 1 consisting of a self-propelled combine harvester was explained, but the present invention is not limited to this example, and the combine harvester 1 may be composed of a conventional combine harvester.

[0125] Furthermore, although the above-described embodiment illustrates an example in which the work vehicle is composed of a combine harvester 1, the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery for harvesting crops, or it may be composed of other work vehicles other than agricultural machinery.

[0126] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Automated driving methods and automated driving methods involving such modifications are also included in the technical concept of the present invention.

[0127] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0128] <Note 1> An automated driving method for a work vehicle that drives automatically in a field, An outer perimeter travel process involves traveling along multiple straight outer perimeter paths for automatic travel, circling along each of the multiple sides that make up the outer shape of the field, A region setting step in which the turning area required for turning from one of the aforementioned straight outer perimeter paths to the next aforementioned straight outer perimeter path is set based on the machine information of the work vehicle, An automatic driving method characterized by comprising a display step of displaying the area requiring turning on a display unit.

[0129] <Note 2> The process further includes a path creation step of creating an inclined path in the turning area that is tilted at a predetermined angle with respect to the first outer perimeter straight path, moving from one of the aforementioned outer perimeter straight paths toward an unworked area adjacent to a completed work area formed by travel based on the first outer perimeter straight path. The automatic driving method according to Appendix 1, characterized in that the display step involves displaying the required turning area and the inclined path on the display unit.

[0130] <Note 3> The automatic driving method according to Appendix 2, characterized in that the display step is to display the next outer perimeter straight path on the display unit when a work area has been secured in the turning area by automatic driving of the inclined path created in the turning area set in one of the outer perimeter straight paths.

[0131] <Note 4> An automated driving system for work vehicles that operate automatically in a field, Driving control unit and Area setting unit, It includes a display unit, The aforementioned driving control unit controls the vehicle to travel along multiple straight outer perimeter paths for automatic driving, while circling along each of the multiple sides that constitute the outer shape of the field. The area setting unit sets the turning area required for turning from one of the outer perimeter straight paths to the next outer perimeter straight path, based on the machine information of the work vehicle. The automatic driving system is characterized in that the display unit displays the turning area on the display screen.

[0132] <Note 5> The system further includes a path creation unit that creates an inclined path in the turning area, which is tilted at a predetermined angle with respect to the first outer perimeter straight path, toward an unworked area adjacent to a completed work area formed by travel based on the first outer perimeter straight path. The automatic driving system according to Appendix 4, characterized in that the display unit overlays the turning area and the inclined path and displays them on the display screen.

[0133] <Note 6> The automatic driving system according to Appendix 5, characterized in that the display unit displays the next outer perimeter straight path on the display screen when a work area has been secured in the turning area by automatic driving of the inclined path created in the turning area set in one of the outer perimeter straight paths. [Explanation of Symbols]

[0134] 1. Combine harvester (work vehicle) 2. Running section 3 Reaping part 30 Control device 35. Driving control unit 40 Mobile devices 41 Terminal-side control device 44 Display section 46 Field Selection Section 47 Route Creation Section 48 Display Control Unit 50 Field Outline 51 Unworked area 52 Existing work area 53. Reference Line 54 Automatic straight-line route 54a Outermost Straight Route 55 Required turning area 56, 56a, 56b, 56c Sloping paths

Claims

1. An automated driving method for a work vehicle that drives automatically in a field, An outer perimeter travel process involves traveling along multiple straight outer perimeter paths for automatic travel, circling along each of the multiple sides that make up the outer shape of the field, A region setting step in which the turning area required for turning from one of the aforementioned straight outer perimeter paths to the next aforementioned straight outer perimeter path is set based on the machine information of the work vehicle, An automatic driving method characterized by comprising a display step of displaying the area requiring turning on a display unit.

2. The process further includes a path creation step of creating an inclined path in the turning area that is tilted at a predetermined angle with respect to the first outer perimeter straight path, moving from one of the aforementioned outer perimeter straight paths toward an unworked area adjacent to a completed work area formed by travel based on the first outer perimeter straight path. The automatic driving method according to claim 1, characterized in that the display step is to display the turning required area and the inclined path on the display unit.

3. The automatic driving method according to claim 2, characterized in that the display step is to display the next outer perimeter straight path on the display unit when a work area has been secured in the turning area by automatic driving of the inclined path created in the turning area set in one of the outer perimeter straight paths.

4. An automated driving system for a work vehicle that drives automatically in a field, Driving control unit and Area setting unit, It includes a display unit, The aforementioned driving control unit controls the vehicle to travel along multiple straight outer perimeter paths for automatic driving, while circling along each of the multiple sides that constitute the outer shape of the field. The area setting unit sets the turning area required for turning from one of the outer perimeter straight paths to the next outer perimeter straight path, based on the machine information of the work vehicle. The automatic driving system is characterized in that the display unit displays the turning area on the screen.

Images