Autonomous driving method, work vehicle, and automated driving system

Abstract

To provide an automated travelling method, a work vehicle, and an automated travelling system that allow a moving route to be set flexibly according to a condition of a farm field.SOLUTION: A combine 1 includes a control device 30 and a portable terminal 40. The control device 30 functions as a discharge travelling control part 36 for executing automated discharge travelling on the basis of a discharge route 72. The portable terminal 40 includes a control device 41. The control device 41 functions as a discharge route creation part 52 for creating a discharge route 72 for executing automated discharge travelling in a non-work state from a predetermined transition position 65 at which work travelling is suspended after executing both travelling in a forward direction and travelling in a backward direction, to a discharge position 71, which is a target position.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an automatic driving method, a work vehicle, and an automatic driving system for automatically driving a work vehicle in a field. [Background technology]

[0002] Conventionally, a work vehicle such as a combine harvester performs automatic reaping travel in which the vehicle automatically travels along an automatic travel route in a farm field while performing reaping work, and stores the harvested grains. In addition, in order to discharge the stored grains to a collection section at a discharge position, some work vehicles create a discharge route from a predetermined transfer position on the automatic travel route to the discharge position, interrupt the automatic reaping travel at the transfer position, and perform automatic discharge travel along the discharge route to the discharge position.

[0003] For example, the automatic driving control system disclosed in Patent Document 1 includes a route setting unit that sets a driving route for automatic driving, an automatic driving control unit that controls the automatic driving of the machine based on the machine's position and driving route, a state detection unit that detects the state of the harvester, and an interruption determination unit that can determine the interruption of automatic driving based on the detection result of the state detection unit. When the interruption determination unit determines that automatic driving is interrupted, the route setting unit generates an intermediate work route for moving to the intermediate work position based on an intermediate work position (e.g., a discharge position for discharging harvested grains) that has been set in advance for working in the field after the interruption of automatic driving, the machine's position when the interruption of automatic driving was determined, and the harvesting situation of the field. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-22429 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the prior art such as Patent Document 1, a discharge route is set to travel in only one direction, either forward or backward, from the transfer position to the discharge position. However, the discharge route is created to travel only in the already-mowed areas of the field, avoiding the unmowed areas, so when the route is created to travel in only one direction, the patterns are limited. In addition, a work vehicle such as a combine harvester may set a destination position for performing various processes in addition to the discharge position. Therefore, there is a risk that it is not possible to create a moving route such as a discharge route that moves smoothly and efficiently from the transfer position to a destination position such as the discharge position, or a moving route such as a discharge route that follows the intention of the worker.

[0006] An object of the present invention is to provide an automatic driving method, a work vehicle, and an automatic driving system that can flexibly set a travel route according to the conditions of a farm 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 automatically driving a work vehicle in a farm field, and is characterized by having a travel path creation process for creating a travel path for automatic driving in a non-working state from a predetermined transition position where work driving was interrupted to a destination position by driving in both forward and reverse directions, and a travel and driving process for automatically driving based on the travel path.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that travels automatically in a farm field, and is characterized in that it comprises a travel path creation unit that creates a travel path for automatic travel in a non-working state by traveling in both forward and reverse directions from a predetermined transition position where work travel was interrupted to a destination position, and a travel control unit that performs automatic travel based on the travel path.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a field, and is characterized in that it includes a travel path creation unit that creates a travel path for automatic driving in a non-working state by driving in both forward and reverse directions from a predetermined transition position where work driving was interrupted to a destination position, and a travel control unit that performs automatic driving based on the travel path. Effect of the Invention

[0010] The present invention provides an automatic driving method, a work vehicle, and an automatic driving system that can flexibly set a travel route according to the conditions of 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. 1 is a plan view showing an example of a farm field in which a discharge path is set in which the discharge position is reached by straight backward travel in a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 1 is a plan view showing an example of a farm field in which a discharge path is set in which the discharge position is reached by forward straight-line travel in a combine harvester according to an embodiment of the present invention. [Diagram 5] FIG. 11 is a plan view showing an example of a farm field in which a discharge route is set in which obstacles are avoided and a discharge position is reached by straight backward travel in a combine harvester according to another embodiment of the present invention. [Figure 6] FIG. 11 is a plan view showing an example of a farm field in which a discharge route is set in which obstacles are avoided and a discharge position is reached by straight backward travel in a combine harvester according to another embodiment of the present invention. [Figure 7] FIG. 11 is a plan view showing an example of a farm field in which a discharge route is set in which obstacles are avoided and a discharge position is reached by straight forward travel in a combine harvester according to another embodiment of the present invention. [Figure 8]FIG. 11 is a plan view showing an example of a farm field in which a discharge path is set to reach a discharge position by straight backward travel in a combine harvester according to a further 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 and the like. The combine harvester 1 is an example of a work vehicle that performs work while manually or automatically traveling along a predetermined work route. 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 culms planted in the field. The combine harvester 1 is configured to perform, for example, automatic work in which steering is controlled by automatic operation, while the traveling speed is controlled in response to manual operation, and unmanned work in which steering and traveling speed are controlled by automatic operation, and can travel, turn, and work autonomously in a field.

[0013] The combine harvester 1 harvests multiple rows of stalks while traveling along a straight line 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 be driven manually 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, which performs reaping while automatically traveling along an automatic travel route set in the field. For example, the combine harvester 1 performs automatic reaping travel with a travel pattern such as reciprocating reaping by going back and forth along multiple straight routes in an area of ​​the field having uncut stalks (hereinafter referred to as the uncut area) and circular reaping by repeating a circuit of a straight route along the inner circumference of the uncut area while shifting it toward the center.

[0015] In addition, before performing automatic mowing travel, the combine harvester 1 performs peripheral mowing travel in which it travels around the outer periphery of the field, mowing while it travels, thereby forming a headland in the field, and the inside of the headland becomes the working area for automatic mowing travel.

[0016] The combine harvester 1 performs automatic travel, in which the combine harvester 1 interrupts a work travel such as a manual or automatic reaping travel in a working state at a predetermined transition position, and automatically travels along a predetermined travel path in a non-working state to a predetermined destination position where a predetermined process is performed. The combine harvester 1 stores grains harvested from a field while performing reaping travel, and a collection section such as a truck or container for collecting the grains harvested by the combine harvester 1 is provided outside the field. In this embodiment, the combine harvester 1 sets a discharge position where the grains are discharged from the combine harvester 1 to the collection section as a destination position at a position along the outer periphery of the field adjacent to the collection section. When discharging grains during automatic reaping travel, the combine harvester 1 performs automatic discharge travel, in which the combine harvester 1 interrupts automatic reaping travel at a predetermined transition position on the automatic travel path, and automatically travels along a predetermined discharge path as a travel path to a discharge position. The combine harvester 1 may set a transition position based on the timing when the grain storage amount becomes full, or may be able to set a transition position arbitrarily according to the operation of the operator. The combine harvester 1 may set the transition position not only to a position on the automatic travel route during automatic reaping travel, but also to a position where manual travel was interrupted.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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. The storage section 6 is set with a maximum amount of grains that the grain tank 24 can store (maximum storage amount). 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 discharge device 25 is configured to be able to discharge grains in any direction, front, rear, left or right, of the body of the combine harvester 1, but for convenience of the arrangement of the auger or the like, one side in the left or right direction (for example, the right side) may be set as the recommended discharge side.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] The combine harvester 1 is equipped with a positioning unit 28 that uses a satellite positioning system such as a GPS to acquire the vehicle position 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., the vehicle position of the combine harvester 1, based on the positioning signal.

[0027] 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.

[0028] 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 calculations based on the programs and data stored in the storage unit 31. The control device 30 acquires the vehicle position of the combine harvester 1 from the positioning unit 28, for example.

[0029] 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.

[0030] Moreover, the control device 30 operates as a mowing travel control unit 35 (work travel control unit) and a discharge travel control unit 36 ​​(mobile travel control unit) by executing the programs stored in the memory unit 31. The mowing travel control unit 35 and the discharge travel control unit 36 ​​realize the mowing travel process (work travel process) and the discharge travel process (mobile travel process) of the automatic travel method according to the present invention.

[0031] The reaping travel control unit 35 is an example of a work travel control unit that controls the work travel of the combine harvester 1, and in this embodiment, when the automatic travel mode is set, it controls the automatic reaping travel of the combine harvester 1. For example, as shown in Figs. 3 to 7, the reaping travel control unit 35 acquires from the mobile terminal 40 field information and an automatic travel route 64 (see dashed line) set for the field 60. The field 60 has an unmowed area 61 where work has not yet been performed and a mowed area 62 where mowing has already been completed, and the automatic travel route 64 is set within the unmowed area 61. When the reaping travel control unit 35 starts automatic reaping travel, it acquires the vehicle position 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 performs automatic reaping travel along the automatic travel route 64 based on the vehicle position, the field information, and the automatic travel route 64.

[0032] The discharge travel control unit 36 ​​is an example of a travel control unit that controls the travel of the combine harvester 1 from the transfer position to the destination position, and in this embodiment, when the automatic travel mode is set, it controls the automatic discharge travel of the combine harvester 1. For example, as shown in Figs. 3 to 7, the discharge travel control unit 36 ​​controls the automatic discharge travel of the combine harvester 1 that has reached the transfer position 65 set on the automatic travel path 64 in the field 60 to move to the discharge position 71. Specifically, when the combine harvester 1 performing automatic reaping travel reaches the transfer position 65, the discharge travel control unit 36 ​​controls the power unit 8 and the travel unit 2 so that the combine harvester 1 stops the automatic reaping travel and stops the operation of the reaping unit 3, and starts the automatic discharge travel along the discharge path 72 from the transfer position 65 to the discharge position 71 without stopping at the transfer position 65. In another example, the discharge travel control unit 36 ​​may start the automatic discharge travel in response to the operation of the operation unit 9 or the mobile terminal 40 after stopping and interrupting the automatic reaping travel at the transfer position 65. 3 to 7, the combine harvester 1 in the transfer position 65 is illustrated by a solid line, and the combine harvester 1 in the discharge position 71 is illustrated by a dotted line.

[0033] 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.

[0034] 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.

[0035] The memory unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the control device 41 executes calculation processing based on the programs and data stored in the memory unit 42, thereby controlling the various components and functions of the mobile terminal 40. The memory unit 42 stores field information of the field 60 on which the combine harvester 1 is to work. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the field area along the periphery of the field 60, and a discharge position 71 within the field 60 adjacent to a collection section 70 on the outside of the field 60. The field information also includes information such as the shape, size, and position information (coordinates, etc.) of the uncut area 61 and the cut area 62 in the field 60.

[0036] 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.

[0037] The control device 41 of the mobile terminal 40 operates as a field selection unit 50, an automatic driving path creation unit 51 (work path creation unit), and a discharge path creation unit 52 (movement path creation unit) by executing a program stored in the memory unit 42. The field selection unit 50, the automatic driving path creation unit 51, and the discharge path creation unit 52 realize the field selection step, the automatic driving path creation step (work path creation step), and the discharge path creation step (movement path creation step) of the automatic driving method according to the present invention.

[0038] The field selection unit 50 manually or automatically selects a field 60 to be the target of the automatic traveling operation. For example, the field selection unit 50 displays on the display unit 44 a field selection screen (not shown) that selectably displays a field 60 corresponding to the field information stored in the storage unit 42. When a field 60 is manually selected on the field selection screen, the field selection unit 50 selects the selected field 60 as the target of the operation and reads out the field information from the storage unit 42.

[0039] Furthermore, when an operation to create a new field is performed on the field selection screen, the field selection unit 50 selects as the work target the new field at the vehicle position of the combine harvester 1. When the combine harvester 1 performs reaping travel by going around along the outer circumferential shape of the new field, the field selection unit 50 receives from the combine harvester 1 the vehicle position of the combine harvester 1 measured by the positioning unit 28 of the combine harvester 1, and creates field information of the new field by recording position information of the outer circumferential shape and position information of the reaping travel route, and stores the field information in the storage unit 42.

[0040] The automatic travel path creation unit 51 is an example of a work path creation unit that creates a work path along which the combine harvester 1 travels for work. In this embodiment, the automatic travel path creation unit 51 creates an automatic travel path 64 (see dashed lines in Figs. 3 to 7) along which the combine harvester 1 travels for automatic reaping in the field 60 selected by the field selection unit 50, stores the path in the storage unit 42, and transmits the path to the combine harvester 1 via the communication unit 32. The automatic travel path 64 includes travel information related to automatic travel and work information related to work such as automatic reaping. The travel information includes the travel position in the field 60, as well as the direction of travel and the set vehicle speed at each travel position. The work information includes information related to work such as the start or stop of reaping at each travel position, the reaping speed, and the reaping height. The automatic travel path creation unit 51 creates multiple straight travel paths along which the combine harvester 1 travels forward and reaps in the field 60 according to the travel pattern (reciprocating reaping or circular reaping) selected by operating the mobile terminal 40, and creates the automatic travel path 64 by combining the multiple straight travel paths with multiple turning paths connecting the multiple straight travel paths.

[0041] For example, as shown in Figs. 3 to 7, an unmowed area 61 formed inside a mowed area 62 that serves as a headland along the periphery of a field 60 is set as the target of automatic mowing travel of the combine harvester 1, and the automatic travel path creation unit 51 creates an automatic travel path 64 for reciprocating mowing that travels back and forth along multiple straight paths in the unmowed area 61. A collection unit 70 is provided outside the field 60, and a discharge position 71 (destination position) is set at a position along the periphery of the field 60 and adjacent to the collection unit 70. The headland where the destination position is set is set as a destination headland, and for example, the headland where the discharge position 71 is set is set as a discharge headland 66. Furthermore, of the sides that constitute the outline of the field 60, a side that corresponds to the destination headland, for example, a side that corresponds to the discharge headland 66 is set as a headland side 67. In this embodiment, the automatic travel path creation unit 51 creates an automatic travel path 64 having a straight path parallel to the pillow ground side 67, and sets a transition position 65 at the end of the predetermined straight path. Note that the combine harvester 1 may not only set the transition position 65 on the automatic travel path 64 by the automatic travel path creation unit 51, but also set the transition position 65 at a position where manual travel was interrupted.

[0042] The discharge path creation unit 52 is an example of a movement path creation unit that creates a movement path for the combine harvester 1 to travel to a destination position. In this embodiment, before the combine harvester 1 reaches the transfer position 65 set on the automatic travel path 64, a discharge path 72 (movement path) for performing discharge travel by automatic travel from the transfer position 65 to the discharge position 71 (destination position) is created, stored in the storage unit 42, and transmitted to the combine harvester 1 via the communication unit 32. The discharge path 72 includes travel information related to automatic travel, and the travel information includes the travel position in the field 60 as well as the travel direction and set vehicle speed at each travel position. The discharge path creation unit 52 creates the discharge path 72 by combining a straight path and a turning path so as to move from the transfer position 65 to the discharge position 71 while avoiding, for example, the uncut area 61.

[0043] The discharge path creation unit 52 creates the discharge path 72 of the configuration according to the present invention as described later only when a predetermined creation condition is satisfied. When the predetermined creation condition is not satisfied, the discharge path creation unit 52 may create a normal discharge path 72, for example, a discharge path 72 that moves from the transfer position 65 to the discharge position 71 (destination position) in the shortest distance or in the shortest time while avoiding the uncut area 61. For example, the discharge path creation unit 52 may set as a creation condition a case where, in the normal discharge path 72 in which the combine 1 moves from the transfer position 65 to the discharge position 71, the turning path that turns according to the turning radius set for the combine 1 is located outside the field 60. In addition, the discharge path creation unit 52 may set as a creation condition a case where a discharge path 72 that has a shorter travel time or path length than a normal discharge path 72 in which the combine 1 travels only in one direction, forward or backward, so that the recommended discharge side (for example, the right side) faces the collection unit 70 side (outside the field 60) and stops at the discharge position 71. Furthermore, the discharge path creation unit 52 may set the creation condition as being able to create a discharge path 72 in which the travel time or path length is shorter than a normal discharge path 72 in which the combine 1 travels in only one direction, either forward or backward, regardless of the direction in which it stops at the discharge position 71.

[0044] In this embodiment, the discharge path creation unit 52 creates a discharge path 72 for automatically discharging and traveling from a transition position 65 on the automatic travel path 64 to a discharge position 71 by traveling in both a forward direction and a backward direction, as an example of a path different from the normal discharge path 72. In addition, the discharge path creation unit 52 creates a first discharge path 73 (first movement path) that moves from the transition position 65 to the discharge headland 66 where the discharge position 71 is set, and a second discharge path 74 (second movement path) that moves from an end position 73a of the first discharge path 73 to the discharge position 71, and creates a discharge path 72 that automatically discharges and travels continuously along the first discharge path 73 and the second discharge path 74. At this time, the discharge path creation unit 52 creates a second discharge path 74 consisting of only a straight path along a target straight line 68 that is parallel to the outline side of the field 60 (headland side 67 corresponding to the discharge headland 66) and passes through the discharge position 71, and creates a first discharge path 73 that has an end position 73a on the second discharge path 74 and consists of at least one of a straight path and a turning path. The second discharge path 74 is set to have a running direction that is the same as the orientation of the combine 1 at the discharge position 71, and the first discharge path 73 is a path for the combine 1 to run so that it faces the running direction of the second discharge path 74 at the end position 73a where the combine 1 reaches the second discharge path 74. The discharge path creation unit 52 may set the running direction of the second discharge path 74 so that the combine 1 running on the second discharge path 74 stops at the discharge position 71 with the recommended discharge side facing the collection unit 70 side (outside). In this embodiment, an example is described in which the discharge path creation unit 52 creates a straight-line second discharge path 74 that runs parallel to the pillow ground edge 67 and passes through the discharge position 71, but in other examples, a straight-line second discharge path 74 that runs diagonally relative to the pillow ground edge 67 and passes through the discharge position 71 may be created.

[0045] For example, in the field 60 shown in FIG. 3 described above, the discharge path creation unit 52 creates the first discharge path 73 so as to move from the transition position 65 to a target straight line 68 passing through the discharge position 71 in parallel to the headland side 67 by traveling in the forward direction or traveling in both the forward direction and the reverse direction. Note that FIG. 3 shows an example in which the discharge path creation unit 52 creates the first discharge path 73 by a turning path in the forward direction. However, in cases where it is not possible to move to the target straight line 68 by the turning path in the forward direction alone or turning is required depending on the headland conditions, etc., the discharge path creation unit 52 may create the first discharge path 73 by appropriately combining a turning path in the forward direction, a straight path in the forward direction, a turning path in the reverse direction, and a straight path in the reverse direction so as to have an end position 73a on the target straight line 68. In addition, in the farm field 60 shown in FIG. 3 described above, the discharge path creation unit 52 creates a second discharge path 74 by traveling backwards to move from the end position 73a of the first discharge path 73 to the discharge position 71.

[0046] Alternatively, in the field 60 shown in FIG. 4 described above, the discharge path creation unit 52 creates the first discharge path 73 so as to move from the transition position 65 to a target straight line 68 passing through the discharge position 71 in parallel to the headland side 67 by traveling in the reverse direction or traveling in both the forward and reverse directions. Note that FIG. 4 shows an example in which the discharge path creation unit 52 creates the first discharge path 73 using a turning path in the reverse direction. However, in cases where it is not possible to move to the target straight line 68 using only the turning path in the reverse direction or turning is required depending on the headland conditions, etc., the discharge path creation unit 52 may create the first discharge path 73 so as to have an end position 73a on the target straight line 68 by appropriately combining a turning path in the forward direction, a straight path in the forward direction, a turning path in the reverse direction, and a straight path in the reverse direction. In addition, in the farm field 60 shown in FIG. 4 described above, the discharge path creation unit 52 creates a second discharge path 74 by performing forward travel to move from the end position 73a of the first discharge path 73 to the discharge position 71.

[0047] As described above, according to this embodiment, the combine harvester 1 includes the control device 30 and the mobile terminal 40. The control device 30 functions as a reaping travel control unit 35 (work travel control unit) that performs automatic reaping travel (work travel) based on the set automatic travel route 64, and a discharge travel control unit 36 ​​(mobile travel control unit) that performs automatic discharge travel (mobile travel) based on the discharge route 72 (travel route). The mobile terminal 40 includes a control device 41, and the control device 41 functions as a discharge route creation unit 52 (mobile route creation unit) that creates a discharge route 72 for automatic discharge travel in a non-working state from a predetermined transition position 65 where the automatic reaping travel was interrupted to a discharge position 71 (destination position) by performing both forward travel and reverse travel.

[0048] In other words, in the present invention, the automatic driving method for automatically driving a work vehicle such as a combine 1 in a field 60 includes a mowing driving process (work driving process) for performing automatic mowing driving based on a set automatic driving route 64, a discharge route creation process (moving route creation process) for creating a discharge route 72 for automatic discharge driving in a non-working state from a predetermined transition position 65 where the automatic mowing driving was interrupted to the discharge position 71 by driving both in the forward direction and the reverse direction, and a discharge driving process (moving driving process) for performing automatic discharge driving based on the discharge route 72.

[0049] This creates a discharge path 72 that travels both forward and backward, making it possible to adopt various patterns of discharge paths 72, and it is possible to set a discharge path 72 that moves smoothly and efficiently from the transfer position 65 to the discharge position 71 regardless of the positional relationship between the transfer position 65 and the discharge position 71, or a discharge path 72 that meets the intention of the operator. Therefore, the discharge path 72 can be flexibly set according to the conditions of the field 60.

[0050] According to this embodiment, the discharge position 71 (destination position) is set at the headland, and the discharge path creation unit 52 sets the headland where the discharge position 71 is set as the discharge headland 66 (destination headland), and creates a first discharge path 73 that moves from the transition position 65 to the discharge headland 66 by traveling in a forward direction, or by traveling in both the forward and reverse directions, and a second discharge path 74 that moves from the end position 73a of the first discharge path 73 to the discharge position 71 by traveling in reverse, thereby creating a discharge path 72 having the first discharge path 73 and the second discharge path 74.

[0051] Alternatively, the discharge path creation unit 52 sets the headland where the discharge position 71 is set as the discharge headland 66, and creates a first discharge path 73 that moves from the transition position 65 to the discharge headland 66 by traveling in a reverse direction, or by traveling in both the forward and reverse directions, and a second discharge path 74 that moves from the end position 73a of the first discharge path 73 to the discharge position 71 by traveling in a forward direction, thereby creating a discharge path 72 having the first discharge path 73 and the second discharge path 74.

[0052] This allows the second discharge path 74 for reaching the discharge position 71 to be set without being complicated, and makes it easier to set the combine 1 in a direction suitable for discharge when it reaches the discharge position 71. Also, since the first discharge path 73 for reaching the second discharge path 74 is created to have at least a different running direction from the second discharge path 74, the discharge path 72 consisting of the first discharge path 73 and the second discharge path 74 can be flexibly set.

[0053] According to this embodiment, the discharge path creation unit 52 creates a first discharge path 73 that includes a turning run, and creates a second discharge path 74 that is made up of only a straight run.

[0054] As a result, the second discharge path 74 for reaching the discharge position 71 can be set without complexity by creating it only by straight-line running, and it becomes easy to set the orientation of the combine 1 suitable for discharge when it reaches the discharge position 71. Also, by creating the first discharge path 73 for reaching the second discharge path 74 including turning running, the discharge path 72 consisting of the first discharge path 73 and the second discharge path 74 can be flexibly set.

[0055] According to this embodiment, the discharge route creation unit 52 sets the side that corresponds to the discharge headland 66 among the sides that constitute the outline of the field 60 as the headland side 67, and creates a second discharge route 74 so that it is parallel to the headland side 67.

[0056] This allows the second discharge path 74 to be created along the outline of the field 60, making it possible to set it up without making it complicated, and makes it easier to set the combine 1 in a direction suitable for discharge when it reaches the discharge position 71.

[0057] In another embodiment, as shown in Figs. 5 to 7, an obstacle 69 may be present between the transition position 65 and the discharge position 71 in the discharge headland 66 of the field 60. The obstacle 69 may be, for example, an object placed on the discharge headland 66 or a ridge extending into the discharge headland 66. In this case, the combine harvester 1 detects the obstacle 69 in advance before creating the discharge path 72, and for example, detects the obstacle 69 based on a route that bypasses the obstacle 69 when performing the outer periphery harvesting travel, and stores the position information of the obstacle 69 in the storage unit 42 by including it in the field information. Alternatively, the combine harvester 1 may detect the obstacle 69 based on the result of capturing an image of the surroundings with a camera or the detection result of an obstacle sensor such as an infrared sensor, or may input information on the obstacle 69 detected by the operator.

[0058] In such another embodiment, the discharge path creation unit 52 creates the discharge path 72 to move from the transition position 65 to the discharge position 71 while avoiding the obstacle 69. Specifically, when the obstacle 69 exists on one side of the discharge position 71 and the transition position 65 exists on one side of the discharge position 71 in the extension direction of the discharge headland 66, the discharge path creation unit 52 creates the discharge path 72 that avoids the obstacle 69.

[0059] For example, as shown in Fig. 5, the discharge path creation unit 52 creates the first discharge path 73 by setting an end position 73a of the first discharge path 73 at a position on a target line 68 that is parallel to the headland side 67 and passes through the discharge position 71 and is between an obstacle 69 and the discharge position 71, and creates a second discharge path 74 from the end position 73a of the first discharge path 73 to the discharge position 71. Note that Fig. 5 shows an example in which the discharge path creation unit 52 creates the first discharge path 73 such that the vehicle travels from the transition position 65 on a turning path in the forward direction, turns backward toward the discharge headland 66 side, and then travels on a turning path in the backward direction to move to the end position 73a between the obstacle 69 and the discharge position 71. However, without being limited to this example, the discharge path creation unit 52 may create the first discharge path 73 by appropriately combining a forward turning path, a forward straight path, a backward turning path, and a backward straight path in accordance with the conditions of the headland, etc., to move to an end position 73a between the obstacle 69 and the discharge position 71.

[0060] Alternatively, as shown in Figs. 6 and 7, the discharge path creation unit 52 creates the first discharge path 73 by setting an end position 73a of the first discharge path 73 on the opposite side of the obstacle 69 across the discharge position 71, and creates a second discharge path 74 from the end position 73a of the first discharge path 73 to the discharge position 71. Note that Fig. 6 shows an example in which the discharge path creation unit 52 creates the first discharge path 73 such that the combine 1 turns from the transition position 65 to the discharge position 71 side by a direction change (so-called fishtail turn) consisting of a forward turning path and a backward turning path, and then travels along a backward turning path to the end position 73a on the opposite side of the obstacle 69 across the discharge position 71, and Fig. 7 shows an example in which the discharge path creation unit 52 creates the first discharge path 73 such that the combine 1 travels along a backward turning path from the transition position 65 to the end position 73a on the opposite side of the obstacle 69 across the discharge position 71. However, without being limited to these examples, the discharge path creation unit 52 may create the first discharge path 73 by appropriately combining a forward turning path, a forward straight path, a reverse turning path, and a reverse straight path in accordance with the conditions of the headland, etc., so as to move to an end position 73a on the opposite side of the obstacle 69, across the discharge position 71.

[0061] According to another embodiment, even if an obstacle 69 is present in the discharge headland 66, the first discharge path 73 can be created so that the obstacle 69 does not get between the end position 73a of the first discharge path 73 and the discharge position 71, and the second discharge path 74 can be prevented from overlapping with the obstacle 69, thereby suppressing interference with the automatic discharge travel caused by the obstacle 69.

[0062] As shown in Figs. 5 to 7, depending on the distance between the discharge position 71 and the obstacle 69, the combine harvester 1 may or may not be able to enter. Therefore, the discharge path creation unit 52 calculates the distance between the discharge position 71 and the obstacle 69 based on each piece of position information shown in the farm field information. Then, as shown in Fig. 5, when it is determined that the combine harvester 1 can enter between the discharge position 71 and the obstacle 69, for example, when the distance between the discharge position 71 and the obstacle 69 is equal to or greater than a predetermined distance threshold, the discharge path creation unit 52 creates a first discharge path 73 such that the end position 73a is set between the discharge position 71 and the obstacle 69. On the other hand, as shown in Figs. 6 and 7, when it is determined that the combine harvester 1 cannot enter between the discharge position 71 and the obstacle 69, for example, when the distance between the discharge position 71 and the obstacle 69 is less than a predetermined distance threshold, the discharge path creation unit 52 creates a first discharge path 73 such that the end position 73a is set on the opposite side of the obstacle 69 across the discharge position 71. At this time, the distance threshold may be set to at least twice the length of the combine harvester 1 in the front-rear direction so that the combine harvester 1 can enter safely, and may be set arbitrarily by the operator.

[0063] This makes it possible to automatically set the end position 73a of the first discharge path 73 to a more appropriate position depending on the distance between the discharge position 71 and the obstacle 69. Therefore, it is possible to more reliably create the first discharge path 73 in which no obstacle 69 comes between the end position 73a of the first discharge path 73 and the discharge position 71, and it is possible to more reliably prevent the second discharge path 74 from overlapping with the obstacle 69, thereby suppressing interference with the automatic discharge travel.

[0064] In the above embodiment, an example has been described in which the discharge path creation unit 52 assumes a target straight line 68 that passes through the discharge position 71 parallel to the pillow edge 67 of the field 60, and creates a discharge path 72 consisting of a linear second discharge path 74 along the target straight line 68 and a first discharge path 73 that moves from the transition position 65 to the second discharge path 74, but the present invention is not limited to this example.

[0065] For example, in a further embodiment, as shown in FIG. 8 , the discharge path creation unit 52 may set a first target straight line 68a that is parallel to the headland edge 67 of the field 60 and passes through the discharge position 71, and a second target straight line 68b that is parallel to the headland edge 67 and is shifted one path length toward the unmowed area 61 from the discharge position 71 and obstacles 69. The discharge path creation unit 52 may create a discharge path 72 consisting of a first discharge path 81 that moves in a forward turning motion from the transition position 65 to a predetermined position 81a on the second target straight line 68b, a linear second discharge path 82 that moves in a backward straight line along the second target straight line 68b from the end position 81a of the first discharge path 81 to a predetermined position 82a, a third discharge path 83 that moves in a forward turning motion from the end position 82a of the second discharge path 82 to a predetermined position 83a on the first target straight line 68a, and a linear fourth discharge path 84 that moves in a forward straight line along the first target straight line 68a from the end position 83a of the third discharge path 83 to the discharge position 71.

[0066] In the above embodiment, as an example of a travel route for automatically traveling in a non-working state from a predetermined transition position where the automatic reaping travel is interrupted to a destination position, a discharge route for automatically traveling in a non-working state from a predetermined transition position where the automatic reaping travel is interrupted to a discharge position has been described, but the present invention is not limited to this example. For example, the destination position may be set to a supply position where a work vehicle such as a combine harvester 1 supplies fuel. In addition, the destination position may be set to a supply position where a work vehicle such as a rice transplanter or other transplanter that performs a work travel in which a transplanting travel while transplanting seedlings supplies seedlings, or a work vehicle such as a sprayer that performs a work travel in which a spraying travel while spraying chemicals or fertilizer supplies chemicals or fertilizer. Alternatively, the destination position may be set to a supply position where a work vehicle supplies other materials. Then, the travel route is created to travel to the various destination positions described above.

[0067] 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.

[0068] In the above embodiment, an example has been described in which the work vehicle is configured as the combine harvester 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine that harvests crops, or may be configured as a work vehicle other than an agricultural work machine.

[0069] 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 automated driving method, work vehicle, and automated driving method that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0070] 1 Combine (work vehicle) 2 Running part 3 Reaping part 30 Control device 35 Mowing travel control unit 36 Discharge travel control unit (mobile travel control unit) 40 Mobile Devices 41 Control device 52 Discharge route creation unit (movement route creation unit) 64 Automatic driving route 65 Transition position 66 Discharge headland (destination headland) 69 Obstacles 71 Discharge position (destination position) 72 Emission route (transport route) 73 First discharge route (first transfer route) 73a End position 74 Second discharge route (second movement route)

Claims

1. An automatic driving method for automatically driving a work vehicle in a field, comprising: a travel path creation process for creating a travel path for automatic travel in a non-working state from a predetermined transition position where the work travel is interrupted to a destination position by traveling in both a forward direction and a backward direction; A moving and traveling process of performing automatic traveling based on the moving route; having The target position is set at a headland, The movement path creation step sets the headland where the destination position is set as the destination headland, and creates a first movement path that moves from the transition position to the destination headland by traveling in both a forward direction and a reverse direction, and a second movement path that moves from the end position of the first movement path to the destination position by traveling in either a forward direction or a reverse direction, and creates the movement path having the first movement path and the second movement path.

2. 2. The automatic travel method according to claim 1, wherein the travel path creation step creates the first travel path including a turning movement, and creates the second travel path consisting only of a straight line movement.

3. The automatic navigation method according to claim 1 or 2, characterized in that the travel path creation step creates the second travel path so that a side that corresponds to the destination headland among the sides that constitute the outline of the field is set as a headland side, and the second travel path is created so as to be parallel to the headland side.

4. The automatic driving method according to any one of claims 1 to 3, characterized in that, when an obstacle is detected in the destination headland, the travel route creation step sets an end position of the first travel route between the obstacle and the destination position.

5. The automatic driving method according to any one of claims 1 to 3, characterized in that, when an obstacle is detected in the destination headland, the travel path creation step sets an end position of the first travel path on the opposite side of the obstacle across the destination position.

6. The automatic driving method according to any one of claims 1 to 3, characterized in that, when an obstacle is detected in the destination headland, if the distance between the destination position and the obstacle is equal to or greater than a predetermined distance threshold, the movement path creation step sets an end position of the first movement path between the obstacle and the destination position, whereas if the distance between the destination position and the obstacle is less than the distance threshold, the end position of the first movement path is set on the opposite side of the obstacle across the destination position.

7. A work vehicle that automatically travels in a field, a travel path creation unit that creates a travel path for automatic travel in a non-working state from a predetermined transition position where the work travel is interrupted by traveling in both a forward direction and a backward direction to a destination position; A travel control unit that performs automatic travel based on the travel route; Equipped with The target position is set at a headland, the movement path creation unit creates a first movement path that sets a headland where the destination position is set as a destination headland, and travels in both a forward direction and a reverse direction to move from the transition position to the destination headland, and a second movement path that travels in either a forward direction or a reverse direction to move from an end position of the first movement path to the destination position, and creates the movement path that includes the first movement path and the second movement path.

8. An automatic driving system that automatically drives a work vehicle in a field, a travel path creation unit that creates a travel path for automatic travel in a non-working state from a predetermined transition position where the work travel is interrupted by traveling in both a forward direction and a backward direction to a destination position; A travel control unit that performs automatic travel based on the travel route; Equipped with The target position is set at a headland, The movement path creation unit creates a first movement path that sets the headland where the destination position is set as the destination headland, and travels in both forward and reverse directions to move from the transition position to the destination headland, and a second movement path that travels in either the forward or reverse direction to move from the end position of the first movement path to the destination position, and creates the movement path that has the first movement path and the second movement path.

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