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 return 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 return travelling control part 37 for executing automated return travelling on the basis of a return route 76. The portable terminal 40 includes a control device 41. The control device 41 functions as a return route creation part 53 for creating a return route 76 for executing both travelling in a forward direction and travelling in a backward direction from a discharge position 71, which is a predetermined target position, to a predetermined return position 75 for returning to work travelling, and executing automated return travelling in a non-work state.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 path in a field while performing reaping work, and stores the harvested grains. In addition, in order to discharge the stored grains to a recovery section at a discharge position, some work vehicles create a discharge path from a predetermined transfer position on the automatic travel path to the discharge position, interrupt the automatic reaping travel at the transfer position, and perform automatic discharge travel along the discharge path to the discharge position. Furthermore, some work vehicles create a return path from the discharge position to a predetermined return position on the automatic travel path, and after completing the grain discharge work, perform automatic return travel along the return path to the return 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, and an automatic driving control unit that controls the automatic driving of the machine based on the machine's position and driving route. After automatic driving is interrupted and work is performed at a pre-set midway work position in the field (for example, a discharge position for discharging harvested grains), the route setting unit calculates a return position on the driving route based on the midway work position and the harvesting status of the field, and generates a return route for moving to the return position based on the return position and the harvesting status 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 return route is set to travel in only one direction, either forward or backward, from the discharge position to the return position. However, since the return route is created to travel only in the already-mowed areas of the field, avoiding the unmowed areas, the patterns are limited when the route is created to travel in only one direction. 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 return route that moves smoothly and efficiently from a destination position such as a discharge position to the return position, or a return route that is in line with the operator's intentions.

[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 return 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 field, and is characterized by having a return path creation process for creating a return path for automatic return driving in a non-working state by driving both forward and reverse from a predetermined destination position to a predetermined return position where the vehicle returns to work driving, and a return driving process for performing automatic return driving based on the return path.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that automatically travels in a farm field, and is characterized in that it comprises a return path creation unit that creates a return path for automatic return travel in a non-working state by traveling both forward and backward from a predetermined destination position to a predetermined return position where it returns to work travel, and a return travel control unit that performs automatic return travel based on the return 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 return path creation unit that creates a return path for automatic return driving in a non-working state by driving in both forward and reverse directions from a predetermined destination position to a predetermined return position where the vehicle returns to work driving, and a return driving control unit that performs automatic return driving based on the return 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 return 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 return path is set in which automatic return travel starts during straight reverse travel in a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 11 is a plan view showing an example of a farm field in which a discharge path is set for starting automatic return travel during straight reverse travel in a combine harvester according to another embodiment of the present invention. [Diagram 5] FIG. 11 is a plan view showing an example of a farm field in which a discharge path is set for starting automatic return travel during straight reverse 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 return path is set in which automatic return travel starts during straight reverse 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 the 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 interrupts automatic reaping travel at a predetermined transition position on the automatic travel path, and performs automatic discharge travel as a travel path, in which the combine harvester 1 moves to a discharge position by automatic travel along a predetermined discharge path as a travel path. 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. In this embodiment, an example will be described in which the combine harvester 1 moves from the transfer position to the discharge position by performing automatic discharge travel along the discharge path, but in another example, the combine harvester 1 may move from the transfer position to the discharge position by performing manual travel according to the operation of an operator. The transfer position of the combine harvester 1 is not limited to a position on the automatic travel path in the automatic reaping travel, and may be set to a position where manual travel is interrupted.

[0017] Furthermore, when the combine harvester 1 completes a predetermined process at a target position, it performs automatic return travel, moving from the target position to a predetermined return position where it returns to work travel, along a predetermined return path. For example, when the combine harvester 1 completes the discharge of grains into a collection section at a discharge position, which is a target position, it performs automatic return travel along a return path from the discharge position to a predetermined return position on the automatic travel path. Note that the combine harvester 1 may set the return position according to, for example, the discharge position or a positional relationship with an obstacle, or may be able to arbitrarily set the return position according to an operation by an operator.

[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. 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.

[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 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.

[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 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.

[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 executes the programs stored in the memory unit 31 to operate as a mowing travel control unit 35 (work travel control unit), a discharge travel control unit 36 ​​(mobile travel control unit), and a return travel control unit 37. The mowing travel control unit 35, the discharge travel control unit 36, and the return travel control unit 37 realize the mowing travel process (work travel process), the discharge travel process (mobile travel process), and the return travel process of the automatic travel method according to the present invention.

[0032] 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 5, 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.

[0033] 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 5, the discharge travel control unit 36 ​​controls the automatic discharge travel of the combine harvester 1 that has reached the transfer position 65 set at the end of 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 to interrupt the automatic reaping travel and stop the operation of the reaping unit 3, and perform 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.

[0034] When the automatic travel mode is set, the return travel control unit 37 controls automatic return travel in which the combine 1 moves from a target position to a predetermined return position where the combine 1 returns to work travel by automatic travel in a non-working state to the return position, and when a predetermined process is completed at the target position, the combine 1 performs automatic return travel along a predetermined return path from the target position to the return position. For example, as shown in Figs. 3 to 5, the return travel control unit 37 controls automatic return travel in which the combine 1, which has completed grain discharge work at a discharge position 71 in a farm field 60, moves to a return position 75 set on the automatic travel path 64. Specifically, the return travel control unit 37 controls the power unit 8 and the travel unit 2 so that the combine 1 performs automatic return travel along a return path 76 from the discharge position 71 to the return position 75 when the combine 1 completes the discharge work. The return travel control unit 37 may automatically start automatic return travel in response to the completion of the discharge work, or may start automatic return travel in response to the operation of the control unit 9 or the mobile terminal 40 after the discharge work is completed. 3 to 5, the combine harvester 1 in the return position 75 is illustrated by a solid line, and the combine harvester 1 in the discharge position 71 is illustrated by a dotted line.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The control device 41 of the mobile terminal 40 executes the programs stored in the memory unit 42 to operate as a field selection unit 50, an automatic driving path creation unit 51 (work path creation unit), a discharge path creation unit 52 (movement path creation unit), and a return path creation unit 53. The field selection unit 50, the automatic driving path creation unit 51, the discharge path creation unit 52, and the return path creation unit 53 realize the field selection step, the automatic driving path creation step (work path creation step), the discharge path creation step (movement path creation step), and the return path creation step of the automatic driving method according to the present invention.

[0040] 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.

[0041] 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.

[0042] 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 5) 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.

[0043] For example, as shown in Figs. 3 to 5, 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.

[0044] 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.

[0045] The return path creation unit 53 sets a return position 75 at the start of a predetermined straight path of the automatic travel path 64, creates a return path 76 for automatic return travel from the discharge position 71 to the return position 75, stores the return path 76 in the storage unit 42, and transmits the return path 76 to the combine harvester 1 via the communication unit 32. The return path creation unit 53 may set the return position 75 and create the return path 76 before the combine harvester 1 finishes the discharge work. The return path 76 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 return path creation unit 53 creates the return path 76 by combining a straight path and a turning path so as to move from the discharge position 71 to the return position 75 while avoiding, for example, the uncut area 61.

[0046] The return path creation unit 53 creates the return path 76 having the configuration according to the present invention, as described below, only when a predetermined creation condition is satisfied. When the predetermined creation condition is not satisfied, the return path creation unit 53 may create a normal return path 76, for example, a return path 76 that moves from the discharge position 71 (destination position) to the return position 75 in the shortest distance or in the shortest time while avoiding the unmowed area 61. For example, the return path creation unit 53 may set as a creation condition a case where, in the normal return path 76 in which the combine 1 moves from the discharge position 71 to the return position 75, the turning path that turns according to the turning radius set for the combine 1 is located outside the field 60 or the turning path is located in an untraveled area (unmowed area). In the case of the combine 1, the area that has already been traveled (already harvested area) is the area that can be turned, but in the case of other work vehicles such as rice transplanters, the area that can be turned is the area that has not been traveled (untransplanted area), so the creation condition may be a case where the turning path is located in the already traveled area (already transplanted area) in the normal return path 76. In addition, the return path creation unit 53 may also use the creation condition as a case where it is possible 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 only in one direction, the forward direction or the backward direction.

[0047] The return path creation unit 53 may set the return position 75 according to the positional relationship between the start of each straight path of the automatic travel path 64 and the discharge position 71, or the positional relationship between the discharge position 71 and an obstacle 69, or may be able to arbitrarily set the return position 75 according to an operation by an operator. The return path creation unit 53 may set the return position 75 at the start of the straight path of the automatic travel path 64 located on the return headland 79 side, with a headland extending in a direction intersecting the extension direction of the discharge headland 66 as the return headland 79. For example, the return path creation unit 53 may set the return position 75 at the start of the straight path closest to the discharge position 71 among the multiple straight paths of the automatic travel path 64. In addition, the return path creation unit 53 may set the return position 75 at the start of the straight path located on the rear side of the combine harvester 1 when the combine harvester 1 is located at the discharge position 71 with the recommended discharge side facing the collection unit 70 side (outside).

[0048] In this embodiment, the return path creation unit 53 creates a return path 76 for automatic return travel in a non-working state by traveling in both forward and backward directions from a predetermined destination position to a predetermined return position 75 where the vehicle returns to work travel, as an example of a path different from the normal return path 76. For example, the return path creation unit 53 creates a return path 76 from the discharge position 71, which is the destination position, to the return position 75 on the automatic travel path 64. In addition, the return path creation unit 53 creates a first return path 77 that moves from the discharge position 71 to the return headland 79 where the return position 75 is set, and a second return path 78 that moves from an end position 77a of the first return path 77 to the return position 75, and creates a return path 76 that automatically returns to travel on the first return path 77 and the second return path 78 consecutively. At this time, the return path creation unit 53 sets the end position 77a of the first return path 77 in the area where the discharge headland 66 and the return headland 79 intersect. Moreover, the return path creation unit 53 creates a first return path 77 consisting only of a straight path along a target straight line 68 that is parallel to the outline side of the field 60 (the headland side 67 corresponding to the discharge headland 66) and passes through the discharge position 71, and creates a second return path 78 consisting of at least one of a straight path and a turning path, with a predetermined end position 77a of the first return path 77 as a start position. In this embodiment, an example will be described in which the return path creation unit 53 creates a straight-line first return path 77 that is parallel to the headland side 67 and passes through the discharge position 71, but in other examples, a straight-line first return path 77 that runs diagonally to the headland side 67 and passes through the discharge position 71 may be created.

[0049] For example, in the field 60 shown in FIG. 3, the return path creation unit 53 creates a first return path 77 so that the combine 1 moves from the discharge position 71 to the end position 77a by traveling backward. The return path creation unit 53 also creates a second return path 78 so that the combine 1 moves in the forward direction or moves in both the forward direction and the backward direction to move from the end position 77a of the first return path 77 to the return position 75. Note that FIG. 3 shows an example in which the return path creation unit 53 creates the second return path 78 so that the combine 1 moves in the forward direction in the direction of the return headland 79 on the forward turning path, moves in the forward direction in the direction of the return headland 79 on the forward straight path, and then moves in the forward turning path in the direction of the return headland 79 on the forward straight path. However, if it is not possible to move to the return position 75 using only the forward turning path and straight path, or if turning is necessary, depending on the conditions of the pillow area, the return path creation unit 53 can create a second return path 78 to move to the return position 75 by appropriately combining a forward turning path, a forward straight path, a reverse turning path, and a reverse straight path.

[0050] 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 return travel control unit 37 that performs automatic return travel based on a return route 76. The mobile terminal 40 includes a control device 41, which functions as a return route creation unit 53 that creates the return route 76 for automatic return travel in a non-working state by traveling in both forward and reverse directions from a discharge position 71, which is a predetermined destination position, to a predetermined return position 75 for returning to work travel.

[0051] 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 return path creation process for creating a return path 76 for automatic return driving in a non-working state by traveling both forward and backward from a predetermined destination position, a discharge position 71, to a predetermined return position 75 for returning to work driving, and a return driving process for performing automatic return driving based on the return path 76.

[0052] This creates a return path 76 that travels both forward and backward, making it possible to adopt various patterns of the return path 76, and it is possible to set a return path 76 that moves smoothly and efficiently from the discharge position 71 to the return position 75 regardless of the positional relationship between the discharge position 71 and the return position 75, or a return path 76 that meets the operator's wishes. Therefore, the return path 76 can be flexibly set according to the conditions of the field 60.

[0053] According to this embodiment, the discharge position 71, which is the destination position, is set on the headland, and the return path creation unit 53 sets the headland where the discharge position 71 is set as the discharge headland 66 (destination headland), sets the headland that intersects with the discharge headland 66 as the return headland 79, sets a return position 75 on the return headland 79 side, and creates a first return path 77 that moves from the discharge position 71 to the return headland 79 by traveling in reverse, and a second return path 78 that moves from the end position 77a of the first return path 77 to the return position 75 by traveling in the forward direction or by traveling in both the forward and reverse directions, thereby creating a return path 76 having the first return path 77 and the second return path 78.

[0054] This allows the first return path 77 for starting the automatic return travel from the discharge position 71 to be set without complicating it, and allows the automatic return travel to be started smoothly even if there is no area in which the combine 1 can travel on the opposite side of the return position 75 from the discharge position 71. Also, since the second return path 78 for reaching the return position 75 is created having at least a different travel direction from the first return path 77, the return path 76 consisting of the first return path 77 and the second return path 78 can be flexibly set.

[0055] According to this embodiment, the return path creation unit 53 creates a first return path 77 consisting of straight-line travel only, and creates a second return path 78 that includes turning travel.

[0056] As a result, the first return path 77 for starting the automatic return travel from the discharge position 71 can be set without complexity by creating it with only straight travel, and the automatic return travel can be started smoothly. Also, by creating the second return path 78 for reaching the return position 75 including turning travel, the return path 76 consisting of the first return path 77 and the second return path 78 can be flexibly set.

[0057] According to this embodiment, the return path creation unit 53 sets the side that corresponds to the discharge headland 66 among the sides that make up the outline of the field 60 as the headland side 67, and creates a first return path 77 so that it is parallel to the headland side 67.

[0058] As a result, the first return path 77 can be created along the outline of the farm field 60, making it possible to set it without making it complicated, and automatic return travel can be started smoothly.

[0059] In another embodiment, as shown in Figs. 4 and 5, an obstacle 69 may be present 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 return path 76, and for example, detects the obstacle 69 based on a path 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.

[0060] In this other embodiment, the return path creation unit 53 also creates a return path 76 including a first return path 77 that starts automatic return travel by reverse travel from the discharge position 71. Therefore, the combine harvester 1 sets the return path 76 on the opposite side of the obstacle 69 across the discharge position 71 so that the combine harvester 1 can perform return travel without being affected by the obstacle 69, and performs automatic return travel toward the opposite side of the obstacle 69. In order to set such a return path 76, the combine harvester 1 is positioned at the discharge position 71 with the front side facing the obstacle 69 to perform the discharge work, and as a prerequisite, the discharge path creation unit 52 creates the discharge path 72 so that the combine harvester 1 arrives at the discharge position 71 with the front side facing the obstacle 69.

[0061] For example, as shown in FIG. 4, the discharge path creation unit 52 creates the discharge path 72 so that the discharger 71 arrives at the discharge position 71 by traveling in the backward direction while avoiding the obstacle 69. Note that FIG. 4 shows an example in which the discharge path creation unit 52 creates the discharge path 72 so that the discharger 71 proceeds from the transition position 65 on a forward turning path, turns backward toward the discharge headland 66, proceeds on a backward turning path to approach the discharge position 71 while avoiding the obstacle 69, and then moves to the discharge position 71 on a straight path in the backward direction. However, the discharge path creation unit 52 is not limited to this example, and may create the discharge path 72 so that the discharger 71 travels backward while avoiding the obstacle 69, by appropriately combining a forward turning path, a forward straight path, a backward turning path, and a backward straight path in accordance with the headland conditions, etc.

[0062] Alternatively, as shown in FIG. 5, the discharge path creation unit 52 creates the discharge path 72 so that the vehicle travels in the forward direction while avoiding an obstacle 69 and arrives at the discharge position 71. Note that FIG. 5 shows an example in which the discharge path creation unit 52 creates the discharge path 72 so that the vehicle travels from the transition position 65 on a turning path in the backward direction, approaches the discharge position 71 while avoiding the obstacle 69, and then travels to the discharge position 71 on a straight path in the forward direction. However, the discharge path creation unit 52 is not limited to this example, and may create the discharge path 72 so that the vehicle travels to the discharge position 71 by forward travel while avoiding the obstacle 69, by appropriately combining a turning path in the forward direction, a straight path in the forward direction, a turning path in the backward direction, and a straight path in the backward direction, according to the situation of the headland, etc.

[0063] According to another embodiment, even if an obstacle 69 is present on the discharge headland 66, the combine 1 is positioned at the discharge position 71 with the front of the machine body facing the obstacle 69 by the discharge run, thereby preventing the first return path 77 of the return path 76 from overlapping with the obstacle 69. Since the automatic return run can be started by reverse running without being affected by the obstacle 69, interference with the automatic return run caused by the obstacle 69 can be suppressed.

[0064] In the above embodiment, an example has been described in which the return path creation unit 53 assumes a target straight line 68 that runs parallel to the pillow edge 67 of the field 60 and passes through the discharge position 71, and creates a return path 76 consisting of a linear first return path 77 that follows the target straight line 68, and a second return path 78 that moves from the end position 77a of the first return path 77 to the return position 75; however, the present invention is not limited to this example.

[0065] For example, in a further embodiment, as shown in FIG. 6 , the return path creation unit 53 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 return path creation unit 53 may create a return path 76 consisting of a linear first return path 81 that moves in a straight line in the reverse direction along the first target straight line 68a from the discharge position 71 to a predetermined position 81a on the first target straight line 68a, a second return path 82 that moves in a turning direction in the reverse direction from the end position 81a of the first return path 81 to a predetermined position 82a on the second target straight line 68b, a linear third return path 83 that moves in a straight line in the reverse direction along the second target straight line 68b from the end position 82a of the second return path 82 to a predetermined position 83a on the second target straight line 68b at the return pillow area 79, and a fourth return path 84 that moves in a turning direction in the forward direction from the end position 83a of the third return path 83 to the return position 75.

[0066] In the above embodiment, the return route from the discharge position where discharge work is performed to the return position is described as an example of the return route for automatically returning from a predetermined destination position to a predetermined return position where the vehicle returns to the work travel in a non-working state, 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. The destination position may also 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 transplanting seedlings while traveling and other transplanters supplies seedlings, or a work vehicle such as a sprayer that performs a work travel in which spraying chemicals or fertilizers while traveling and other spraying methods supplies chemicals or fertilizer. Alternatively, the destination position may be set to a supply position where a work vehicle supplies other materials. The return route is created to travel from 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) 37 Return drive control unit 40 Mobile Devices 41 Control device 52 Discharge route creation unit (movement route creation unit) 53 Return path creation section 64 Automatic driving route 65 Transition position 66 Discharge headland (destination headland) 69 Obstacles 71 Discharge position (destination position) 72 Emission route (transport route) 75 Return position 76 Return Route 77 First Return Route 77a End position 78 Second Return Route 79 Return Headland

Claims

1. An automatic driving method for automatically driving a work vehicle in a field, comprising: a return path creation process for creating a return path for automatic return travel in a non-working state by performing both forward travel and reverse travel from a predetermined destination position to a predetermined return position for returning to work travel; A return travel process for automatically returning based on the return path; having The target position is set at a headland, The return path creation step is a step of creating a first return path along which the headland on which the destination position is set is set as a destination headland, a headland that intersects with the destination headland is set as a return headland, the return position is set on the side of the return headland, and the vehicle travels in a forward direction or a reverse direction to move from the destination position to the return headland, and a second return path along which the vehicle travels in both a forward direction and a reverse direction to move from an end position of the first return path to the return position, and creating the return path including the first return path and the second return path.

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

3. The automatic navigation method according to claim 1 or 2, characterized in that the return path creation step creates the first return path so that the 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 first return path is parallel to the headland side.

4. a movement path creation step of creating a movement path for automatic travel in a non-work state from a predetermined transition position where the work travel is interrupted to the destination position; A moving and traveling process of performing automatic traveling based on the moving route; Further comprising: The automatic driving method according to any one of claims 1 to 3, characterized in that, in the travel route creation step, when an obstacle is detected in the destination headland, the travel route is created so that the work vehicle arrives at the destination position facing the obstacle.

5. A work vehicle that automatically travels in a field, a return path creation unit that creates a return path for automatic return travel in a non-working state by traveling in both forward and reverse directions from a predetermined destination position to a predetermined return position for returning to work travel; A return travel control unit that performs automatic return travel based on the return route; Equipped with The target position is set at a headland, the return path creation unit sets the return position on the return headland side, determining a headland on which the destination position is set as a destination headland and a headland intersecting the destination headland as a return headland, and creates a first return path for moving from the destination position to the return headland by traveling in a forward direction or a reverse direction, and a second return path for moving from an end position of the first return path to the return position by traveling in both the forward direction and the reverse direction, and creates the return path including the first return path and the second return path.

6. An automatic driving system that automatically drives a work vehicle in a field, a return path creation unit that creates a return path for automatic return travel in a non-working state by traveling in both forward and reverse directions from a predetermined destination position to a predetermined return position for returning to work travel; A return travel control unit that performs automatic return travel based on the return route; Equipped with The target position is set at a headland, the return path creation unit sets the headland on which the destination position is set as a destination headland, sets the headland that intersects with the destination headland as a return headland, sets the return position on the side of the return headland, and creates a first return path in which the headland moves from the destination position to the return headland by traveling in a forward direction or a reverse direction, and a second return path in which the headland moves from an end position of the first return path to the return position by traveling in both the forward direction and the reverse direction, and creates the return path including the first return path and the second return path.

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