Automatic driving method, combine and automatic driving system

Abstract

To provide an automated travelling method, a combine, and an automated travelling system capable of improving workability by setting work blocks according to a work status in a farm field.SOLUTION: A combine 1 is equipped with a control device 30 and a portable terminal 40. The portable terminal 40 includes a control device 41. The control device 41 functions as a recoverable amount acquisition part 50 for acquiring a recoverable amount of a recovery part K for recovering grains retained by the combine 1. It also functions as a work block setting part 51 for setting a plurality of work blocks B in a farm field A on the basis of the recoverable amount of the recovery part K. The control device 30 functions as a travelling control part 35 for automatically executing reaping travelling for each of the plurality of work blocks B.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an automatic travel method for a combine harvester, which sets a plurality of work blocks in a farm field and travels to harvest each work block, and to a combine harvester and an automatic travel system. [Background technology]

[0002] Conventionally, a combine harvester that harvests stalks while traveling in a farm field has a plurality of work blocks set in the farm field and travels to harvest each work block.

[0003] For example, Patent Document 1 relates to an automatic driving system for work vehicles that drive cooperatively around a work site while exchanging data. When the field is large, the system performs a task of creating intermediate areas that divide the field into multiple sections using a driving route called intermediate division, and discloses that the intermediate division positions are specified by touching an outline drawing of the work site displayed on a touch panel screen. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-35381 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conventional technology, the size of each work block divided by the intermediate division is set by the worker visually observing the field and arbitrarily setting the number and position of intermediate divisions, but the size of each work block cannot be set taking into account the work situation in the field. For example, a combine harvester that has completed the harvesting work of a given work block usually discharges all stored grains into a recovery section before moving on to harvesting work of the next work block. However, depending on the harvest amount of the work block, grains stored in the combine may remain even when the recovery section is full. In this way, if the size of the work block is set regardless of the work situation in the field, there is a risk that the operability of the harvesting work and discharge work of the combine, as well as the work on the recovery section side, may decrease.

[0006] The present invention aims to provide an automatic traveling method, a combine, and an automatic traveling system that can improve workability by setting work blocks according to the work conditions in a field. [Means for solving the problem]

[0007] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for a combine that automatically performs mowing driving in a field, and is characterized by having a recoverable amount acquisition step of acquiring a recoverable amount of a collection section that recovers grain stored in the combine, a work block setting step of setting a plurality of work blocks in the field based on the recoverable amount of the collection section, and an automatic mowing driving step of automatically performing the mowing driving for each of the plurality of work blocks.

[0008] In addition, in order to solve the above problems, the combine of the present invention is a combine that automatically performs mowing driving in a field, and is characterized in that it includes a recoverable amount acquisition unit that acquires a recoverable amount of a recovery unit that recovers grains stored in the combine, a work block setting unit that sets multiple work blocks in the field based on the recoverable amount of the recovery unit, and a driving control unit that automatically performs the mowing driving for each of the multiple work blocks.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system for a combine that automatically performs mowing driving in a field, and is characterized in that it includes a recoverable amount acquisition unit that acquires a recoverable amount of a recovery unit that recovers grains stored in the combine, a work block setting unit that sets multiple work blocks in the field based on the recoverable amount of the recovery unit, and a driving control unit that automatically performs the mowing driving for each of the multiple work blocks. Effect of the Invention

[0010] According to the present invention, there is provided an automatic traveling method, a combine harvester, and an automatic traveling system that can improve workability by setting work blocks according to the work conditions in a farm field. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a block diagram of a combine harvester according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a plan view showing a field in an example of operation of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 2 is a plan view showing a field in an example of operation of a combine harvester according to an embodiment of the present invention. [Diagram 5] 1 is a flowchart showing an example of an operation of a combine harvester according to an embodiment of the present invention, from automatic reaping travel to a discharge operation. [Figure 6] FIG. 2 is a plan view showing a field in an operation example of the first improved example of the combine harvester according to the embodiment of the present invention. [Figure 7] FIG. 11 is a plan view showing a field in an operation example of a second improved example of a combine harvester according to an embodiment of the present invention. [Figure 8] FIG. 11 is a plan view showing a field in an operation example of the third improved example of the combine harvester according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A combine harvester 1 according to an embodiment of the present invention will be described with reference to Fig. 1 etc. The combine harvester 1 travels in a field to be worked on by automatic or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic operation, while the traveling speed is controlled in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn and work autonomously in the field.

[0013] The combine harvester 1 harvests multiple rows of culms while traveling along a linear path with a harvest width of a predetermined number of rows within the number of harvestable rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to perform manual driving in response to the operation of the control unit 9 by an operator.

[0014] On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel in which the combine harvester automatically travels and reaps automatically along a preset work path in a work block B set in a field A, as shown in Fig. 3 etc. For example, the combine harvester 1 performs automatic reaping travel with a travel pattern such as reciprocating mowing that travels back and forth along multiple work paths in an area C (hereinafter referred to as the unmowed area) having unmowed stalks in the work block B, or circular mowing that repeats a circuit of the work path along the inner circumference of the unmowed area C while shifting it toward the center.

[0015] The combine harvester 1 performs peripheral mowing travel by manual or automatic travel along the peripheral shape of the field A in order to form a work block B in the field A for automatic mowing travel. Also, in order to create multiple work blocks B within the field A, the combine harvester 1 performs partition mowing travel by manual or automatic travel along the boundaries that divide adjacent work blocks B, and forms a middle division D between adjacent work blocks B. The multiple work blocks B are divided in a direction that intersects with the row direction of the field A.

[0016] The combine harvester 1 stores grains harvested from the field A while performing the harvesting travel, and when a predetermined amount of grains has been stored, it performs a discharging operation to discharge the stored grains to the collection section K. The combine harvester 1 moves to a discharge position adjacent to the collection section K in the field A and discharges the grains to the collection section K. As the discharge operation, the combine harvester 1 performs the discharge operation by manual or automatic travel to the discharge position. In addition, before performing the discharge operation, the operator may be notified that the discharge operation is about to be performed.

[0017] The recovery unit K is an external device of the combine 1, and is composed of a mobile truck, a stationary container, or the like, and is placed on one side that constitutes the perimeter of the field, for example, on a road outside the field, and stores the recovered grains for transport to another storage location, etc. A recoverable amount is set in the recovery unit K as data indicating the maximum amount of grain that can be recovered, and recovery is completed when approximately the same amount of grains as the recoverable amount has been recovered, for example, when grains equal to or greater than a predetermined specified amount that is slightly less than the recoverable amount but less than the recoverable amount have been recovered.

[0018] As shown in FIG. 1, the combine harvester 1 is equipped with a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9, and is configured as a so-called head-threshing combine. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 with power supplied by the power section 8.

[0019] The traveling unit 2 is provided below the machine 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 using power (e.g., rotational power) transmitted from an engine 27 of the power unit 8, causing the combine 1 to travel in the forward / rearward direction and turn 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 change the speed of the rotational power.

[0020] The reaping unit 3 is provided in front of the traveling unit 2, and performs reaping work on rows within the number of reaping rows. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a transporting device 16. The divider 13 separates the culms in the field row by row, and guides a predetermined number of culms within the number of reaping rows to the raising device 14. The raising device 14 raises the culms guided by the divider 13. The cutting device 15 cuts the culms raised by the raising device 14. The transporting device 16 transports the culms cut by the cutting device 15 to the threshing unit 4.

[0021] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stew transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stew, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stew transported by the feed chain 18.

[0022] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw chip discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have dropped from the threshing section 4 to separate them into grains, straw chips, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw chips, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 6. The straw chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the outside of the machine.

[0023] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. A storage capacity is set in the storage section 6 as data indicating the maximum amount of grains that the grain tank 24 can store. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location. The storage section 6 also includes a storage detection section 26 that detects the amount of grains stored in the grain tank 24 (see Figure 2).

[0024] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine.

[0025] The power unit 8 is provided 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 reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0026] The control unit 9 is provided above the power unit 8. The control unit 9 is provided with, around the driver's seat where the operator sits, operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the turning of the body of the combine harvester 1, and a main speed change lever and an auxiliary speed change lever for instructing a change in the forward and backward speed of the combine harvester 1. Manual travel of the combine harvester 1 is performed by the travel unit 2 that receives operation of the handle, main speed change lever, and auxiliary speed change lever of the control unit 9. The control unit 9 also includes mechanisms for operating the reaping work by the reaping unit 3, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 6, and the like.

[0027] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as GPS to acquire position information of the combine harvester 1. The positioning unit 28 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 28, i.e., position information of the combine harvester 1, based on the positioning signal.

[0028] Next, the control device 30 of the combine harvester 1 will be described with reference to Fig. 2. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 32 that communicates with external devices.

[0029] The storage unit 31 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 31. The control device 30 acquires position information of the combine harvester 1 from the positioning unit 28, for example.

[0030] The communication unit 32 is capable of wireless communication with external devices such as a mobile terminal 40 held by a worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40 and transmits and receives various information to and from the mobile terminal 40.

[0031] Moreover, the control device 30 operates as a travel control unit 35 and a discharge work unit 36 ​​by executing a program stored in the memory unit 31. The travel control unit 35 realizes the automatic mowing travel process, the periphery mowing travel process, and the section mowing travel process of the automatic traveling method according to the present invention, and the discharge work unit 36 ​​realizes the discharge work process of the automatic traveling method.

[0032] The travel control unit 35 controls the automatic travel of the combine harvester 1 when the automatic travel mode is set. For example, when a work block B is set for the field A and a work path is set for the work block B, the travel control unit 35 acquires the work path from the mobile terminal 40 in order to perform automatic reaping travel for the work block B. When the automatic reaping travel is started, the travel control unit 35 acquires position information of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, the travel unit 2, and the reaping unit 3 so that the combine harvester 1 automatically performs reaping travel along the work path based on the position information and the work path. The combine harvester 1 may be equipped with a gyro sensor and a direction sensor to acquire displacement information and direction information of the combine harvester 1, and the travel control unit 35 may adjust the automatic travel of the combine harvester 1 based on the displacement information and direction information.

[0033] In order to perform perimeter mowing travel in field A, the travel control unit 35 acquires information on the shape of the field edge that constitutes the perimeter of the field, i.e., the outer perimeter shape, from the mobile terminal 40. When starting perimeter mowing travel, the travel control unit 35 acquires position information of the combine harvester 1 from the positioning unit 28, and controls the power unit 8, traveling unit 2, and mowing unit 3 based on the position information and the outer perimeter shape so that the combine harvester 1 automatically performs mowing travel along the outer perimeter shape. For example, the travel control unit 35 controls each unit so that the combine harvester 1 performs automatic straight travel parallel to each side of the outer perimeter shape.

[0034] When a plurality of work blocks B are set in the field A and a middle division D is set at the boundary dividing adjacent work blocks B, the traveling control unit 35 acquires middle division information from the mobile terminal 40 in order to perform partition mowing traveling in the field A. When partition mowing traveling starts, the traveling control unit 35 acquires position information of the combine 1 from the positioning unit 28, and controls the power unit 8, traveling unit 2, and mowing unit 3 based on the position information and the middle division information so that the combine 1 automatically performs mowing traveling along the middle division D.

[0035] When the discharge travel to the discharge position adjacent to the collection unit K is set to automatic travel, the travel control unit 35 acquires the discharge route to the discharge position from the mobile terminal 40. When the discharge travel of the automatic travel starts, the travel control unit 35 acquires position information of the combine harvester 1 from the positioning unit 28, and controls the power unit 8 and the travel unit 2 based on the position information and the discharge route so that the combine harvester 1 performs discharge travel to move along the discharge route to the discharge position.

[0036] The discharge operation unit 36 ​​performs a discharge operation to discharge the grains stored in the combine harvester 1 to the collection unit K. For example, the discharge operation unit 36 ​​controls the discharge device 25 of the storage unit 6 to discharge the grains stored in the grain tank 24 of the storage unit 6 to the collection unit K.

[0037] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal equipped with a touch panel or a notebook personal computer. An operation device similar to the mobile terminal 40 may be provided in the control unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 configure an automatic driving system.

[0038] 2, the mobile terminal 40 includes a control device 41 configured with a computer such as a CPU, and the control device 41 is connected to a storage unit 42 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 43 that communicates with external devices. The mobile terminal 40 also includes a display unit 44 such as a touch panel or a 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.

[0039] The memory unit 42 stores programs and data for controlling the various components and functions of the mobile terminal 40, and the control device 41 controls the various components and functions of the mobile terminal 40 by executing calculation processing based on the programs and data stored in the memory unit 42. The memory unit 42 stores, for example, field information of the field A which is the work target of the combine 1. The field information includes the shape, size and position information (coordinates, etc.) of the field edge that constitutes the periphery of the field, the shape, size and position information (coordinates, etc.) of the work area of ​​the field A, the discharge position adjacent to the collection unit K within the field A, etc.

[0040] The communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The control device 41 controls the communication unit 43 to perform wireless communication with the combine harvester 1 and transmits and receives various information to and from the combine harvester 1.

[0041] The control device 41 of the mobile terminal 40 executes the programs stored in the memory unit 42 to operate as a recoverable amount acquisition unit 50, a work block setting unit 51, a work path creation unit 52, and a discharge work transition unit 53. The recoverable amount acquisition unit 50, the work block setting unit 51, the work path creation unit 52, and the discharge work transition unit 53 realize the recoverable amount acquisition step, the work block setting step, the work path creation step, and the discharge work transition step of the automatic driving method according to the present invention.

[0042] The recoverable amount acquisition unit 50 acquires the recoverable amount of the recovery unit K that recovers the grains stored in the combine harvester 1. For example, the recoverable amount acquisition unit 50 acquires the recoverable amount by communicating with the recovery unit K that stores the recoverable amount or an external device such as a server. Alternatively, the recoverable amount acquisition unit 50 may acquire the recoverable amount input or selected in response to an operation of the mobile terminal 40 by an operator, and may enable input operation or selection operation of the recoverable amount via the input unit 45 on a setting screen displayed on the display unit 44, for example.

[0043] The work block setting unit 51 may set a plurality of work blocks B in the uncut area C in the field A based on the recoverable amount of the recovery unit K, and may set the plurality of work blocks B so as to divide the uncut area C in the direction intersecting with the row direction of the field A. For example, the work block setting unit 51 calculates the size of each work block B and sets one or more work blocks B so that when the automatic reaping travel of one or more work blocks B is completed, the predicted harvest amount of grains harvested in these one or more work blocks B is approximately the same as the recoverable amount. In other words, the work block setting unit 51 divides the plurality of work blocks B into each recovery work of the recovery unit K and assigns one or more work blocks B to each recovery work. The number of work blocks B for each recovery work may be the same or different. Note that one or more work blocks B corresponding to each recovery work are set to be adjacent to each other in the direction intersecting with the row direction. The one or more work blocks B corresponding to the last recovery work may have a predicted harvest amount within the recoverable amount, and may not be approximately the same amount.

[0044] Specifically, as shown in Fig. 3, if the recoverable amount of recovery unit K is 100, and the size of each work block B is set so that the predicted harvest amount of each work block B is 50, the predicted harvest amount of grains harvested in the two work blocks B will be the same as the recoverable amount. Note that "approximately the same amount" is not limited to a state in which the predicted harvest amount and the recoverable amount of one or more work blocks B are equal, but may be slightly less than the recoverable amount, and may be, for example, a state in which the predicted harvest amount of one or more work blocks B is equal to or greater than a predetermined specified amount that is slightly less than the recoverable amount, but less than the recoverable amount.

[0045] The estimated harvest amount of each work block B depends on the size of each work block B, and since the size of each work block B is calculated from the length in the row direction and the number of rows of the uncut area C, the estimated harvest amount of each work block B can be set to a desired amount by setting an arbitrary number of rows. The number of rows of each work block B is preferably set to a multiple of the number of rows that the combine harvester 1 can harvest, or may be set to a number obtained by subtracting 1 or 2 rows from a multiple of the number of rows that the combine harvester 1 can harvest.

[0046] For example, the predicted harvest amount for one stroke, in which the number of reapable rows of the combine harvester 1 is the reapable width, can be calculated based on the length in the row direction of the uncut area C and the reapable width. Therefore, the number of strokes that satisfy the recoverable amount is calculated by dividing the recoverable amount of the recovery unit K by the predicted harvestable amount for one stroke, so when setting one or more work blocks B to match the predetermined recoverable amount of the recovery unit K, the work block setting unit 51 only needs to adjust one or more work blocks B so that they have the calculated number of strokes.

[0047] In addition, the work block setting unit 51 may calculate the greatest common divisor between the recoverable amount in the recovery section K and the stored amount in the combine 1, and set the size (number of strokes) of each work block B so that the predicted harvest amount of each work block B is an integer multiple of the calculated greatest common divisor.

[0048] The number of intermediate divisions for the intermediate divisions D that divide the multiple work blocks B may be automatically set by the mobile terminal 40, and may be calculated, for example, based on the size of the uncut area C of the field A, the cutting width of the combine 1, the turning radius at which the field A can turn on the headland, etc. Alternatively, the number of intermediate divisions may be set by inputting the number of intermediate divisions in response to the operation of the mobile terminal 40 by the worker, and for example, the number of intermediate divisions may be input via the input unit 45 on a setting screen displayed on the display unit 44.

[0049] The work block setting unit 51 may set a middle division formation order for each middle division D as the order of performing the partition mowing run to form the middle division D that divides a plurality of work blocks B. For example, the work block setting unit 51 assigns a middle division formation order to each middle division D so that the middle division D is formed in the order of proximity to the one end side from one end side toward the other end side in the direction intersecting with the row direction of the field A. As a result, the travel control unit 35 of the combine harvester 1 performs the partition mowing run of each middle division D in the order in which they are arranged from one end side toward the other end side in the direction intersecting with the row direction of the field A, that is, performs the partition mowing run from one end side toward the other end side so as to divide the field A into a plurality of work blocks B. In other words, the combine harvester 1 starts the partition mowing run from the middle division D closest to the one end side, and performs the partition mowing run of the middle division D closest to the other end side last.

[0050] The work block setting unit 51 may also set a work order for each work block B as the order in which the automatic reaping travel of the multiple work blocks B is performed. For example, when starting the section reaping travel from the middle division D on one end side in the direction intersecting with the row direction of the field A, the work block setting unit 51 assigns a work order to each work block B so that the automatic reaping travel of the work blocks B is performed from the other end side toward the one end side in the order of proximity to the other end side. As a result, the travel control unit 35 of the combine harvester 1 performs the automatic reaping travel of each work block B in the order of arrangement from the other end side toward the one end side in the direction intersecting with the row direction of the field A. In other words, the combine harvester 1 starts the automatic reaping travel from the work block B on the most other end side, and performs the automatic reaping travel of the work block B on the most one end side last. In addition, it is preferable that the other end side where the work block B that starts the automatic reaping travel first is arranged is set to the side where the recovery unit K is arranged, and thus the automatic reaping travel of the work blocks B can be performed in the order of proximity to the recovery unit K.

[0051] The work path creation unit 52 creates a work path for automatic mowing travel through each of the multiple work blocks B set in the field A, stores it in the memory unit 42, and transmits it to the combine harvester 1 via the communication unit 33. The work path includes travel settings related to automatic travel and work settings related to work such as automatic mowing. The travel settings include the travel position in the field A, as well as the traveling direction and set vehicle speed at each travel position. The work settings include information related to work such as whether mowing is started or stopped at each travel position, the mowing speed, and the mowing height. For each work block B, the work path creation unit 52 creates a linear course for mowing while traveling forward in accordance with the travel pattern (reciprocating mowing or circular mowing) selected by operating the mobile terminal 40, and creates a work path by combining multiple courses.

[0052] The work path creation unit 52 may not only assign one work path to each work block B, but also assign a series of work paths to one or more work blocks B corresponding to each collection task. The work path creation unit 52 may create an idle path for moving between the work blocks B for one or more work blocks B corresponding to each collection task, and include the idle path in the work path. In addition, when the discharge travel to the discharge position adjacent to the collection unit K is set to automatic travel, the work path creation unit 52 may create a discharge path for moving from a completion position that completes one or more work blocks B corresponding to each collection task to the discharge position, and include the idle path in the work path.

[0053] The discharge operation transition unit 53 transitions the combine harvester 1 from automatic reaping travel to discharge work when a predetermined discharge condition is satisfied when the combine harvester 1 completes automatic reaping travel in a predetermined work block B. For example, the discharge operation transition unit 53 may set the predetermined discharge condition as a case where the amount of grains stored in the storage unit 6 of the combine harvester 1 becomes approximately the same as the recoverable amount when the combine harvester 1 completes automatic reaping travel in a predetermined work block B. Note that while the combine harvester 1 is performing automatic reaping travel, the discharge operation transition unit 53 receives from the combine harvester 1 the result of detection by the storage detection unit 26 of the storage unit 6 as the amount of grains stored in the grain tank 24 of the storage unit 6, and keeps track of the amount of grains stored in the combine harvester 1 at all times.

[0054] Incidentally, as described above, the work block setting unit 51 sets one or more work blocks B so that the predicted harvest amount of grains harvested in one or more work blocks B is approximately the same as the recoverable amount. Therefore, when the automatic reaping travel of one or more work blocks B is completed, the discharge work transition unit 53 may transition the combine 1 from automatic reaping travel to discharge work under a predetermined discharge condition in which the amount of grains harvested in one or more work blocks B and stored in the combine 1 becomes approximately the same as the recoverable amount.

[0055] Specifically, as shown in FIG. 4, if the recoverable amount of the recovery unit K is 100, when the combine 1 completes the automatic reaping run of the first work block B, if the harvest amount of the first work block B is 50, the storage amount of the combine 1 will be 50. Next, if the expected harvest amount of the second work block B is 50, the expected storage amount when the combine 1 completes the automatic reaping run of the second work block B will be 100. In this way, when the automatic reaping run of the second work block B is completed, the storage amount of the combine 1 and the recoverable amount of the recovery unit K are approximately the same amount, so the discharge condition is satisfied and the discharge operation to the recovery unit K is started. In FIG. 4, the combine 1 at the expected position at the completion of the automatic reaping run of the second work block B is shown by a dashed line, and the discharge route from this expected position to the recovery unit K is shown by a dashed line.

[0056] For example, the travel control unit 35 of the combine 1 performs automatic mowing travel based on the work route obtained from the mobile terminal 40, and when the automatic mowing travel of one or more work blocks B corresponding to each recovery work is completed, a completion notification is sent to the mobile terminal 40, and this completion notification causes the discharge work transition unit 53 to detect the completion of the automatic mowing travel of one or more work blocks B.

[0057] Alternatively, while the combine 1 is performing automatic mowing travel, the discharge work transition unit 53 receives position information of the combine 1 measured by the positioning unit 28 of the combine 1 from the combine 1, and detects the completion of automatic mowing travel of one or more work blocks B by constantly grasping the position of the combine 1 on the work route.

[0058] When the discharge operation transition unit 53 detects the completion of the automatic reaping travel of one or more work blocks B, it notifies the operator on the display unit 44 that the amount of grain stored in the combine 1 is approximately the same as the amount that can be collected in the collection unit K and that the combine 1 should be transitioned to the discharge operation. If the discharge travel is set to manual travel, the operator will move the combine 1 to the collection unit K by manual travel. On the other hand, if the discharge travel is set to automatic travel, the discharge operation transition unit 53 will transmit an instruction for automatic discharge travel to the combine 1, and the combine 1 will move to the collection unit K by automatic travel in response to this instruction. At this time, the discharge operation transition unit 53 may transmit a discharge route to the combine 1 together with the instruction for discharge travel.

[0059] Next, an example of the operation of the combine harvester 1 from automatic reaping travel to a discharge operation will be described with reference to the flowchart of FIG.

[0060] First, in the mobile terminal 40, the recoverable amount acquisition unit 50 acquires the recoverable amount of the recovery unit K that recovers the grains stored by the combine harvester 1, and stores it in the memory unit 42 (step S1).

[0061] The work block setting unit 51 sets multiple work blocks B in the unmowed area C of the field A based on the amount that can be recovered by the recovery unit K and stores the set in the memory unit 42 (step S2).Specifically, the size of each work block B is calculated and one or more work blocks B are set so that the predicted amount of grain harvested by the automatic harvesting run of one or more work blocks B is approximately the same as the amount that can be recovered.

[0062] The work path creation unit 52 creates a work path for automatic mowing travel through each of the multiple work blocks B, stores the work path in the memory unit 42, and transmits it to the combine harvester 1 (step S3).

[0063] The travel control unit 35 of the combine harvester 1 starts automatic mowing travel in each work block B of the unmowed area C based on the work route acquired from the mobile terminal 40 (step S4).

[0064] When the combine harvester 1 completes automatic reaping travel of one or more work blocks B corresponding to one collection operation (step S5: Yes), the discharge operation transition unit 53 determines whether the stored amount in the storage unit 6 and the collectable amount in the collection unit K are approximately the same (step S6). If the stored amount and the collectable amount are approximately the same (step S6: Yes), the discharge operation transition unit 53 transitions the combine harvester 1 to a discharge operation in which the grains stored in the storage unit 6 are discharged to the collection unit K (step S7). On the other hand, if the stored amount and the collectable amount are not approximately the same (step S6: No), The travel control unit 35 shifts the combine 1 to automatic reaping travel in one or more work blocks B corresponding to the next collection work (step S5). When the combine 1 completes automatic reaping travel in all work blocks B (step S8: Yes), the work in the field A is finished.

[0065] As described above, according to this embodiment, the combine harvester 1 includes the control device 30 and the mobile terminal 40. The mobile terminal 40 includes the control device 41, which functions as a recoverable amount acquisition unit 50 that acquires the recoverable amount of the recovery unit K that recovers grains stored in the combine harvester 1, and also functions as a work block setting unit 51 that sets multiple work blocks B in the field A based on the recoverable amount of the recovery unit K. The control device 30 functions as a travel control unit 35 that automatically performs reaping travel for each of the multiple work blocks B.

[0066] As a result, the combine harvester 1 sets the work block B for automatic reaping travel based on the amount of crop that can be collected by the collection section K, thereby improving workability at the collection section K, and since the work block B for automatic reaping travel is appropriately set, the workability of the reaping work and discharge work can also be improved. In this way, the combine harvester 1 can improve workability by setting the work block B in accordance with the work situation in the field A.

[0067] According to this embodiment, in the combine 1, the work block setting unit 51 sets one or more work blocks B so that the predicted harvest amount of grains harvested in one or more work blocks B is approximately the same as the amount that can be recovered by the recovery section K.

[0068] As a result, the combine 1 can perform one collection operation for one or more work blocks B, and can harvest the grains that fill the collection section K at the timing of the completion of automatic reaping travel of one or more work blocks B. Also, at the collection section K, the timing when the collection section K will be filled can be predicted by visually checking the work status of each work block B or by checking it on the mobile terminal 40. This can improve the operability at the collection section K, and can also improve the operability of the reaping operation and the discharge operation.

[0069] According to this embodiment, in the combine harvester 1, the control device 30 functions as the discharge work unit 36, which performs a discharge work of discharging grains stored in the combine harvester 1 to the collection unit K. When the automatic reaping travel of one or more work blocks B is completed and the amount of grains stored in the combine harvester 1 becomes approximately the same as the amount that can be collected by the collection unit K, the travel control unit 35 transitions from the automatic reaping travel to the discharge work.

[0070] This allows the time when the automatic reaping travel of one or more work blocks B is completed to be the timing for filling the collection section K, and can be timed to coincide with the timing for transitioning from automatic reaping travel to discharge work. This makes it possible to improve the operability of the reaping work and discharge work, and accordingly improve the operability in the collection section K.

[0071] According to this embodiment, in the combine 1, the travel control unit 35 performs partition mowing travel from one end side to the other end side in a direction intersecting the row direction of the field A so as to divide the field A into multiple work blocks B, and also performs automatic mowing travel from the work block B on the other end side.

[0072] As a result, the order of the middle division formation for the partition mowing run of the middle division D is set from one end side, and the work order for the automatic mowing run of the work block B is set from the other end side, so that the vehicle position of the combine harvester 1 when the partition mowing runs of all the middle divisions D set in the field A are completed will be located near the work block B that will perform the automatic mowing run first among the multiple work blocks B. Therefore, the free travel path for moving to the first work block B can be shortened, so that the automatic mowing run of the work block B can be started smoothly and quickly, improving the workability of the mowing work.

[0073] In the above embodiment, an example has been described in which the work block setting unit 51 sets one or more work blocks B so that the predicted harvest amount of grains harvested in one or more work blocks B is approximately the same as the recoverable amount in the collection unit K, but the present invention is not limited to this example. For example, as a first improved example, the work block setting unit 51 may set one or more work blocks B so that the total amount of the outer perimeter harvest amount of grains harvested in the outer perimeter mowing running, the partition harvest amount of grains harvested in the partition mowing running, and the predicted harvest amount of grains harvested in one or more work blocks B is approximately the same as the recoverable amount in the collection unit K.

[0074] Specifically, after the completion of the outer periphery mowing run, the work block setting unit 51 receives from the combine 1 the result detected by the storage detection unit 26 of the storage unit 6 as the amount of grain stored in the grain tank 24 of the storage unit 6, and sets this as the outer periphery harvest amount. In addition, after the completion of the outer periphery mowing run, the work block setting unit 51 calculates the expected amount of grain to be harvested from the middle division D set in the uncut area C of the field A as the plot harvest amount from the row-wise length of the uncut area C and the number of middle divisions. In addition, the expected harvest amount of one or more work blocks B is calculated from the row-wise length of the uncut area C and the number of rows or the number of strokes of one or more work blocks.

[0075] The work block setting unit 51 calculates the available amount of grains harvested by the automatic reaping run of the work block B during the first collection operation of the collection unit K by subtracting the outer periphery harvest amount and the section harvest amount from the collectable amount of the collection unit K. Then, the work block setting unit 51 may set one or more work blocks B such that the estimated harvest amount of grains harvested in the one or more work blocks B in which the automatic reaping run is performed first is approximately the same as the calculated available amount. Note that, for one or more work blocks B corresponding to the second or subsequent collection operations, the amount may be set in comparison with the collectable amount of the collection unit K without considering the outer periphery harvest amount and the section harvest amount.

[0076] Specifically, as shown in Fig. 6, if the recoverable amount of the recovery section K is 100, the outer periphery harvest amount is 50, and the section harvest amounts of all the middle sections D are 20, then by setting the size of each work block B so that the predicted harvest amount of one or more work blocks B corresponding to the first recovery work is 30, the total of the outer periphery harvest amount, section harvest amount, and predicted harvest amount of one or more work blocks B corresponding to the first recovery work will be approximately the same as the recoverable amount. If the size of each work block B is set so that the predicted harvest amount of each work block B corresponding to each recovery work from the second onwards is 50, the predicted harvest amount of one or more work blocks B corresponding to each recovery work from the second onwards will be the same as the recoverable amount.

[0077] According to the first improved example, by setting one or more work blocks B so that the total of the outer perimeter harvest yield, the section harvest yield, and the predicted harvest yield of one or more work blocks B is approximately the same as the harvestable yield of the collection unit K, it is possible to set the work block B corresponding to the first collection operation to an appropriate size. This makes it possible to improve the operability of the reaping and discharge operations, and accordingly improve the operability in the collection unit K.

[0078] In the above embodiment, the discharge operation transition unit 53 transitions the combine 1 from automatic reaping operation to discharge operation under the predetermined discharge condition when the amount of grains stored in the combine 1 when the automatic reaping operation of one or more work blocks B is completed is approximately the same as the recoverable amount, but the present invention is not limited to this example. For example, as a second improved example, when the combine 1 performs automatic reaping operation of each work block B in sequence, the discharge operation transition unit 53 may set the predetermined discharge condition as the amount of grains stored in the combine 1 when the automatic reaping operation of a predetermined work block B (current work block B) is completed, plus the expected amount of grains to be harvested in the work block B (next work block B) following the current work block B, which exceeds the amount that can be stored in the storage unit 6.

[0079] The stored amount can be grasped by receiving from the combine 1 the result of detection by the storage detection unit 26 of the storage unit 6 as the amount of grain stored in the grain tank 24 of the storage unit 6 after the automatic reaping travel of the current work block B is completed. The predicted harvest amount of the next work block B is calculated from the length of the unharvested area C in the row direction and the number of rows or the number of strokes of the next work block B.

[0080] The discharge operation transition unit 53 judges whether the discharge condition is satisfied at the start of work in the uncut area C of the field A or after completion of one discharge operation. If the result of this judgment is that the storage amount of the combine 1 and the expected harvest amount of the next work block B exceed the storage amount of the storage unit 6 at the completion of the automatic reaping travel of the current work block B, the discharge operation transition unit 53 notifies the operator by displaying on the display unit 44 that the storage amount will be exceeded in the next work block B and that the combine 1 should be transitioned to the discharge operation. If the discharge travel is set to manual travel, the operator will move the combine 1 to the collection unit K by manual travel. On the other hand, if the discharge travel is set to automatic travel, the discharge operation transition unit 53 transmits an instruction for discharge travel by automatic travel to the combine 1, and the combine 1 will move to the collection unit K by automatic travel in response to this instruction. At this time, the discharge operation transition unit 53 may transmit a discharge route to the combine 1 together with the instruction for discharge travel.

[0081] Specifically, as shown in FIG. 7, when the recoverable amount of the recovery unit K is 150, one or more work blocks B corresponding to each recovery work are set so that the expected harvest amount is 75. When the combine harvester 1 completes the automatic reaping run of the first work block B, the storage amount in the storage unit 6 becomes 75. Here, if the storage amount in the storage unit 6 of the combine harvester 1 is 100, when the combine harvester 1 continues to perform the automatic reaping run of the second work block B, the expected harvest amount of the second work block B is 75, so the storage amount in the storage unit 6 reaches the storage amount in the middle of the automatic reaping run of the second work block B. Therefore, the discharge work transition unit 53 compares the total of the storage amount in the storage unit 6 at the completion of the automatic reaping run of the first work block B and the expected harvest amount of the second work block B with the storage amount in the storage unit 6, and if the total exceeds the storage amount, the discharge work will be transitioned to.

[0082] However, as in the conventional case, when the amount of stored grains reaches the storage capacity of the storage section 6 during automatic harvesting travel in one work block B, if the combine harvester 1 interrupts the automatic harvesting travel in one work block B and switches to discharging work, the routes for the discharge travel and resumption travel between the interruption position and the recovery section K become complicated, making it difficult to create such routes.

[0083] However, according to the second improved example, if it is predicted that the storage capacity of the storage section 6 will be exceeded during the automatic reaping travel of a predetermined work block B, the discharge work will be started after the automatic reaping travel of the work block B immediately before the automatic reaping travel is completed. Therefore, the automatic reaping travel of the work block B is not interrupted midway, and the completion of the automatic reaping travel of the work block B can be timed to coincide with the timing of the transition from automatic reaping travel to discharge work. This makes it possible to simplify the route for discharge travel and resume travel between the interruption position and the collection section K, and makes it easy to create such a route. This improves the workability of the reaping work and discharge work, and accordingly improves the workability at the collection section K.

[0084] In the above embodiment, as shown in FIG. 3 and the like, the combine harvester 1 performs the discharge operation on one collection unit K provided in the field A, but the present invention is not limited to this example. For example, as a third improved example, the combine harvester 1 may be configured to perform the discharge operation on multiple collection units Ka, Kb, and Kc provided in the field A, as shown in FIG. 8. The multiple collection units Ka to Kc may have the same recoverable amount or may have different recoverable amounts. Each of the collection units Ka to Kc may be a mobile type such as a truck, or may be a stationary type such as a container. The positions at which each of the collection units Ka to Kc is arranged may be on the same side among the sides constituting the outer periphery of the field, and are not limited to the same position.

[0085] The recoverable amount acquisition unit 50 acquires the recoverable amount of each of the multiple collection units Ka-Kc. The work block setting unit 51 sets multiple work blocks B in the field based on the recoverable amount of each of the collection units Ka-Kc, for example, by setting one or more work blocks B corresponding to each of the collection units Ka-Kc.

[0086] Specifically, as shown in Fig. 8, if the recoverable amount of the recovery unit Ka performing the first recovery operation is 100, if the outer periphery harvest amount is 50 and the partition harvest amount of all the middle divisions D is 20, then by setting the size of each work block B so that the predicted harvest amount of the work block B corresponding to the first recovery operation is 30, the total of the outer periphery harvest amount, the partition harvest amount, and the predicted harvest amount of one or more work blocks B corresponding to the first recovery operation will be approximately the same as the recoverable amount of the recovery unit Ka. Also, if the recoverable amount of the recovery unit Kb performing the second recovery operation is 80, then by setting the size of each work block B so that the predicted harvest amount of the two work blocks B corresponding to the second recovery operation is 40, the total of the predicted harvest amount of one or more work blocks B corresponding to the second recovery operation will be approximately the same as the recoverable amount of the recovery unit Kb. Furthermore, if the recoverable amount of the recovery section Kc performing the final recovery work is 100, the predicted harvest amount of the remaining unharvested area C is 50, and as long as it is within the recoverable amount, the predicted harvest amount of one or more work blocks B corresponding to the final recovery work does not have to be the same as the recoverable amount.

[0087] As a result, when multiple collection sections Ka to Kc each have a different recoverable amount, the size of the work block B can be set to match each recoverable amount, improving workability at each collection section Ka to Kc, and since the work block B that performs automatic mowing travel is appropriately set, the workability of mowing and discharge operations can also be improved.

[0088] Furthermore, the control device 41 (for example, the work block setting unit 51) of the mobile terminal 40 may set an unloading order for each of the multiple collection units Ka to Kc as the order in which unloading work is to be performed at each of the multiple collection units Ka to Kc. When multiple mobile collection units Ka to Kc arrive at a farm field in sequence, the order of arrival of each of the collection units Ka to Kc becomes the unloading order. The mobile terminal 40 may receive the arrival order of each of the collection units Ka to Kc from an external device such as a server, or may obtain it in response to an input operation by the worker.

[0089] The work block setting unit 51 assigns a work order to each work block B so that automatic reaping travel begins with the work block B corresponding to the collection unit Ka with the earliest discharge order as the work order for the multiple work blocks B. Alternatively, the work block setting unit 51 may set the discharge order for each collection unit Ka-Kc so that discharge work begins with the collection unit Ka corresponding to one or more work blocks B with the earliest discharge order. As a result, the travel control unit 35 will perform automatic reaping travel beginning with the work block B corresponding to the collection unit Ka with the earliest discharge order. Therefore, the collection work for each collection unit Ka-Kc can be performed smoothly, improving workability.

[0090] The work block setting unit 51 may set the work block B corresponding to the collection section Ka with the earliest discharge order to be located closest to the collection section Ka among the multiple work blocks B. In other words, the work block B is set to be located closer to the collection section Ka to Kc with the earliest discharge order among the corresponding collection sections Ka to Kc. Therefore, the free running distance between the collection section Ka with the earliest discharge order and the corresponding work block B can be shortened, the collection work can be started quickly, and the workability can be improved. In addition, as the automatic mowing travel of each work block B and the collection work of each collection section Ka to Kc progress, a mowed area is formed between the unmowed area C and each collection section Ka to Kc, so there is no need to create a complicated discharge route that bypasses the unmowed area C, and a simple discharge route can be easily created, improving the workability.

[0091] In addition, in the above-mentioned embodiment, an example was described in which the discharge work transition unit 53 sets the discharge condition as a case in which the amount of grain harvested in one or more work blocks B and stored in the combine 1 when the automatic harvesting run of one or more work blocks B is completed is approximately the same as the recoverable amount, or the amount of grain stored in the combine 1 when the automatic harvesting run of the current work block B is completed plus the estimated harvest amount of grain to be harvested in the next work block B exceeds the storage capacity of the storage unit 6; however, the present invention is not limited to this example.

[0092] For example, in other embodiments, the discharge condition may be when the amount of storage in the storage section 6 after the periphery mowing run is approximately the same as the recoverable amount, or when the amount of storage in the storage section 6 after the periphery mowing run and the section mowing run is approximately the same as the recoverable amount. In other embodiments, the discharge condition may be when it is predicted that the storage amount of the combine harvester 1 after the periphery mowing run plus the section harvest amount of the section mowing run exceeds the storage amount of the storage section 6, or when it is predicted that the storage amount of the combine harvester 1 after the section mowing run plus the predicted harvest amount of the first work block B exceeds the storage amount of the storage section 6.

[0093] In addition, in the above embodiment, an example has been described in which one combine harvester 1 works in the field A, as shown in Figure 3, etc., but the present invention is not limited to this example and may be applied, for example, to a case in which multiple combine harvesters 1 work in the field A.

[0094] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding type combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a normal type combine harvester.

[0095] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automatic traveling method, combine harvester, and automatic traveling method that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0096] 1. Combine Harvester 2 Running part 3 Reaping part 6. Storage section K Recovery Department 24 Glentank 25 Ejection device 26 Storage detector 30 Control device 35 Driving control unit 36 Discharge work section 40 Mobile Devices 41 Control device 50 Recoverable Amount Acquisition Department 51 Working block setting section 52 Work Path Creation Department 53 Discharge Operation Transition Section

Claims

1. An automatic travel method for a combine harvester that automatically travels in a farm field, comprising: A recoverable amount acquisition step of acquiring a recoverable amount of an external recovery section that recovers grains stored in the combine; a work block setting step of setting a plurality of work blocks in the field based on the recoverable amount of the recovery unit; an automatic mowing / traveling process for automatically performing the mowing / traveling along a preset work route for each of the plurality of work blocks, An automatic driving method characterized in that the work block setting process sets one or more work blocks so that the predicted harvest amount of grains to be harvested in one or more of the work blocks is approximately the same as the recoverable amount.

2. An automatic travel method for a combine harvester that automatically travels to harvest in a farm field, comprising: A recoverable amount acquisition step of acquiring a recoverable amount of an external recovery section that recovers grains stored in the combine; a work block setting step of setting a plurality of work blocks in the field based on the recoverable amount of the recovery unit; a peripheral mowing travel process for performing peripheral mowing travel along a peripheral shape of the field; a partition mowing / traveling process for performing partition mowing / traveling along boundaries that divide the plurality of work blocks; an automatic mowing / traveling process for automatically performing the mowing / traveling along a preset work route for each of the plurality of work blocks, The automatic driving method is characterized in that the work block setting process sets one or more work blocks so that the total of the outer perimeter harvest amount of grains harvested in the outer perimeter mowing run, the partition harvest amount of grains harvested in the partition mowing run, and the predicted harvest amount of grains harvested in one or more of the work blocks is approximately the same as the recoverable amount.

3. A discharge operation step of discharging grains stored in the combine to the collection section, The automatic driving method described in claim 1 or 2, characterized in that the automatic mowing and traveling process transitions to the discharge work process when the amount of grain stored in the combine becomes approximately the same as the recoverable amount when the mowing and traveling of one or more of the work blocks is completed.

4. A discharge operation step of discharging grains stored in the combine to the collection section, The automatic driving method described in claim 1 or 2, characterized in that when the mowing runs of each of the work blocks are performed sequentially, if the amount of grain stored in the combine at the time the mowing run of a specified work block is completed and the estimated harvest amount of grain to be harvested in the work block subsequent to the specified work block exceeds the amount that can be stored in the combine, the automatic mowing / traveling process transitions to the discharge work process when the mowing run of the specified work block is completed.

5. The recoverable amount acquisition step includes acquiring the recoverable amount of each of the plurality of recovery units, The automatic driving method according to any one of claims 1 to 4, characterized in that the work block setting process sets a plurality of work blocks within the field so as to set one or more work blocks corresponding to each collection section based on the recoverable amount of each collection section.

6. A discharge order is set for the plurality of recovery units in which the discharge operation is performed, The automatic travel method according to claim 5, wherein the automatic mowing and traveling step performs the mowing and traveling from the work block corresponding to the collection unit that is earliest in the discharge order.

7. 7. The automatic travel method according to claim 6, wherein the work block setting step sets the work block corresponding to the collection unit having the earliest discharge order to be located closest to the collection unit.

8. The section mowing traveling process includes performing the section mowing traveling so as to divide the field into the plurality of work blocks from one end side to the other end side in a direction intersecting with the row direction of the field, The automatic travel method according to claim 2 , wherein the automatic mowing and traveling step performs the mowing and traveling from the work block on the other end side.

9. A combine harvester that automatically performs harvesting in a field, A recoverable amount acquisition unit that acquires a recoverable amount of an external recovery unit that recovers grains stored in the combine; a work block setting unit that sets a plurality of work blocks within the farm field based on the recoverable amount of the recovery unit; a travel control unit that automatically performs the mowing travel along a preset work route for each of the plurality of work blocks; Equipped with A combine harvester characterized in that the work block setting unit sets one or more of the work blocks so that the predicted harvest amount of grains harvested in one or more of the work blocks is approximately the same as the recoverable amount.

10. An automatic driving system having a combine harvester that automatically performs harvesting traveling in a farm field and a mobile terminal capable of communicating with the combine harvester, The mobile terminal includes: A recoverable amount acquisition unit that acquires a recoverable amount of an external recovery unit that recovers grains stored in the combine; a work block setting unit that sets a plurality of work blocks in the field based on the recoverable amount of the recovery unit, The combine harvester is a travel control unit that automatically performs the mowing travel along a preset work route for each of the plurality of work blocks; An automatic driving system characterized in that the work block setting unit sets one or more work blocks so that the predicted harvest amount of grains to be harvested in one or more of the work blocks is approximately the same as the recoverable amount.

Images