Autonomous Driving System

Abstract

To provide an automatic traveling system capable of turning a working vehicle in a zippy fashion.SOLUTION: The present invention relates to an automatic traveling system of a working vehicle 1 having a working device 15. The automatic traveling system comprises: a work traveling route setting part for setting a plurality of work traveling routes LS1 and LS2 arranged in parallel in a working object area CA; a turn traveling route setting part for setting a turn traveling route LM connected to the two work traveling routes LS1 and LS2 in an outer peripheral area SA outside the working object area CA; and a traveling control part for automatically traveling the working vehicle 1 along the turn traveling route LM. The turn traveling route LM includes a turning route to make the working vehicle 1 travel in turning. The turn traveling route setting part calculates the turning route so that the working device 15 is positioned in the working object area CA when the working vehicle 1 is at a terminal point of the turning route.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an automatic driving system for a work vehicle. [Background technology]

[0002] For example, in the automatic driving system disclosed in Patent Document 1 (referred to as a "driving route management system" in the literature), multiple work driving routes (referred to as "driving route elements" in the literature) are set in the work target area of ​​the field. A turn driving route (referred to as a "U-turn driving route" in the literature) is set in the outer periphery area of ​​the field, and this turn driving route connects to two work driving routes. The turn driving route includes an arc-shaped turning route. The driving control unit (referred to as an "automatic driving control unit" in the literature) of the work vehicle is configured so that the work vehicle (referred to as a "harvester" in the literature) drives along the turn driving route in the outer periphery area of ​​the field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-099041 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional automatic driving system, the work vehicle turns while driving and enters the work driving route. However, depending on the conditions of the field and the state of the crop, there is a possibility that the turning space of the work vehicle may not be sufficient. For this reason, there is room for improvement so that the work vehicle can turn even in places where the turning space is relatively narrow.

[0005] An object of the present invention is to provide an automatic driving system that can generate a turning driving path even if the turning space of a work vehicle is narrow. [Means for solving the problem]

[0006] The present invention relates to an automatic driving system for a work vehicle having a work device at a front portion, the automatic driving system being provided with a work driving path setting unit which sets a plurality of parallel work driving paths in a work target area where crops are planted, a turn driving path setting unit which sets a turn driving path connecting to the two work driving paths in an outer peripheral area outside the work target area, a driving control unit which automatically drives the work vehicle along the turn driving path, and a work control unit which controls the work device, and a turning path setting unit which causes the work vehicle to turn and drive so that a reference point defined at a predetermined location on the work vehicle is located on the turn driving path. and a reverse path for causing the work vehicle to reverse from an end point of the turning path so that the reference point is located on the path. the work control unit is configured to raise the working device when the work vehicle is automatically traveling along the turning path, and the turning travel path setting unit calculates the turning path so that the working device is located inside the work target area when the reference point is located at an end point of the turning path. The work control unit is configured to raise the work device when the work vehicle is automatically traveling along the turning path, and is configured to lower the work device when the work vehicle is automatically traveling along the reverse path. It is characterized by:

[0007] According to the present invention, the turning travel path includes a swivel path, and when the work vehicle reaches the end point of the swivel path, the work device provided on the work vehicle is located inside the work target area. Therefore, the present invention can set the turning travel path closer to the side where the work target area is located, compared to a configuration in which the work device is located in the outer periphery area at the timing when the work vehicle reaches the end point of the swivel path. Furthermore, with this configuration, when the work vehicle reaches the end point of the turning path, the work device is in a raised state and located inside the work target area. Therefore, even when the work device is located inside the work target area, the work device is located above the work object, reducing the risk of the work device pushing down the work object. Furthermore, with this configuration, after the work vehicle reaches the end point of the turning path, the work vehicle moves backward once, so the work vehicle can continue traveling along the next work traveling path while performing work evenly on the work object in the work target area. This makes it possible to realize an automatic driving system that can generate a turning route even if the turning space of the work vehicle is narrow.

[0008]

[0009] In addition, with this configuration, when the work vehicle reaches the end point of the turning path, the work implement is raised and located inside the work target area, so that even when the work implement is located inside the work target area, the work implement is located above the work target, reducing the risk of the work implement pushing down the work target.

[0010] The present invention is an automatic driving system for a work vehicle having a work device, comprising a work driving path setting unit which sets a plurality of parallel work driving paths in a work target area, a turn driving path setting unit which sets a turn driving path connecting to the two work driving paths in an outer peripheral area outside the work target area, a driving control unit which automatically drives the work vehicle along the turn driving path, and a work control unit which controls the work device, and which causes the work vehicle to turn and drive so that a reference point defined at a predetermined location on the work vehicle is located on the turn driving path. The turning path setting unit calculates the turning path so that the work device is located inside the work target area when the reference point is located at the end point of the turning path, and the work control unit is configured to raise the work device when the work vehicle is automatically traveling along the turning path, and to lower the work device when the work vehicle is automatically traveling along the reverse path.

[0011] According to the present invention, the turning travel path includes a swivel path, and when the work vehicle reaches the end point of the swivel path, the work device provided on the work vehicle is located inside the work target area. Therefore, the present invention can set the turning travel path closer to the side where the work target area is located, compared to a configuration in which the work device is located in the outer periphery area when the work vehicle reaches the end point of the swivel path. Also, with this configuration, the work device is located inside the work target area in a raised state when the work vehicle reaches the end point of the swivel path. Therefore, even if the work device is located inside the work target area, the work device is located above the work object, and the risk of the work device pushing down the work object is reduced. Also, with this configuration, after the work vehicle reaches the end point of the swivel path, the work vehicle moves backward once, so the work vehicle can continue to travel along the next work travel path while performing work evenly on the work object in the work target area. This realizes an automatic traveling system that can generate a turning travel path even if the turning space of the work vehicle is narrow.

[0012] Another preferred feature of the automatic driving system of the present invention is that the turn driving path setting unit sets the turning path so that the work vehicle starts turning immediately after the rear end of the traveling gear of the work vehicle crosses the boundary between the work target area and the outer periphery area.

[0013] This configuration reliably prevents the traveling device from running over work objects in the work area.

[0014] Another preferred feature of the automatic driving system of the present invention is that the turn driving path setting unit sets the turning path so that the work vehicle starts turning just before the rear end of the driving gear of the work vehicle crosses the boundary between the work target area and the outer periphery area.

[0015] This configuration makes it possible to bring the turning route as close as possible to the side where the work area is located. [Brief description of the drawings]

[0016] [Figure 1] FIG. 2 is a diagram showing a side view of a combine harvester and an overview of automatic driving. [Diagram 2] FIG. 2 is a diagram showing a driving route in automatic driving. [Diagram 3] FIG. 1 is a functional block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Figure 4] FIG. 1 is a diagram showing a turning driving path according to the prior art. [Diagram 5] FIG. 2 is a diagram showing a turning driving route of the present embodiment. [Figure 6] FIG. 2 is a diagram showing a turning driving route of the present embodiment. [Figure 7] FIG. 4 is a diagram showing a turning start point on a turning driving path in this embodiment. [Figure 8] FIG. 4 is a diagram showing a turning start point on a turning driving path in this embodiment. [Figure 9] FIG. 11 is a diagram showing a turning travel route of another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in Fig. 1 is the "front" and the direction of the arrow "B" is the "rear". The direction of the arrow "U" in Fig. 1 is the "up" and the direction of the arrow "D" is the "down". The direction toward the front of the paper in Fig. 1 is the "left", and the direction toward the back of the paper is the "right".

[0018] A normal combine harvester 1, which is an example of a work vehicle to which the travel management system of the present invention is applied, will be described. The combine harvester 1 of this embodiment is capable of automatic travel. As shown in Fig. 1, a machine body 10 of the combine harvester 1 includes a machine body frame 9, a harvesting section 15 (corresponding to the "working device" of the present invention), a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0019] The traveling device 11 is driven by power from an engine (not shown). An operator who operates or monitors the combine harvester 1 can ride in the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0020] The harvesting section 15 is provided at the front of the machine body 10. The harvesting section 15 is configured to be able to rise and fall relative to the machine body frame 9 via a harvesting cylinder 17. The transport section 16 is provided behind the harvesting section 15. The harvesting section 15 harvests crops in the field 5. The combine 1 is capable of harvesting travel, in which the harvesting section 15 harvests planted culms in the field 5 while the combine 1 travels on the traveling device 11. Note that the "working travel" in this embodiment is specifically harvesting travel. Note that the "working travel" may involve performing work other than harvesting planted culms while traveling.

[0021] The reaped stalks harvested by the harvesting section 15 are transported to the rear of the machine body by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13. In the threshing device 13, the reaped stalks are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

[0022] The satellite positioning module 80 receives positioning signals from artificial satellites GS used in GNSS (Global Satellite Navigation System, such as GPS, GLONASS, Galileo, QZSS, BeiDou, etc.). The satellite positioning module 80 is attached to the upper part of the driving unit 12. In order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic direction sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be disposed in a location in the combine 1 separate from the satellite positioning module 80.

[0023] Here, the combine 1 is configured to harvest crops in a field 5 located inside a field outer edge 6. The field outer edge 6 is provided so as to surround the field 5.

[0024] As shown in FIG. 1, the combine harvester 1 is configured to be able to perform work travel in the outer circumferential area SA of the field 5. The number of revolutions of the combine harvester 1 in the outer circumferential area SA is one to three times. The number of revolutions may be any number of times greater than one. The revolutions may be manually performed by an operator or may be performed by automatic travel. After performing work travel in the outer circumferential area SA, as shown in FIG. 2, the combine harvester 1 performs work travel to harvest crops while traveling back and forth in a work target area CA (unworked land) inside the outer circumferential area SA, using the outer circumferential area SA (worked land) as a turning space.

[0025] [System Configuration] The travel management system of this embodiment will be described with reference to FIG. 3. As shown in FIG. 3, the travel management system of the present invention includes a controller 20 and a management computer 30. The combine harvester 1 includes a large number of electronic control units called ECUs. The controller 20 is one component of the electronic control unit in the combine harvester 1, and is configured to be able to perform signal communication (data communication) with various input / output devices of the combine harvester 1 through a wiring network such as an on-board LAN. The management computer 30 is not included in the combine harvester 1, but is provided, for example, in a remote location, and is configured to be able to transmit and receive data to and from the controller 20 through a communication network. The controller 20 includes a vehicle position calculation unit 21, a travel control unit 22, a work control unit 23, and the like. The management computer 30 includes a field data management unit 31, a travel path setting unit 32, and the like.

[0026] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The position coordinates of the combine harvester 1 indicate the position of the body 10 of the combine harvester 1. The calculated position coordinates of the combine harvester 1 over time are sent to the travel control unit 22 and the work control unit 23.

[0027] The field data management unit 31 manages field shape information, crop planting information, etc. The travel route setting unit 32 receives the field shape and crop planting information from the field data management unit 31 and sets a travel route for automatic travel. The travel route setting unit 32 distinguishes between an outer periphery area SA and a work target area CA based on the field shape data, and sets a work travel route LS in the work target area CA.

[0028] The travel path setting unit 32 includes a work travel path setting unit 32A and a turn travel path setting unit 32B. The work travel path setting unit 32A sets multiple work travel paths LS for automatic travel that travels back and forth in the work target area CA, and these multiple work travel paths LS are parallel to each other. In other words, the work travel path setting unit 32A is configured to set multiple parallel work travel paths LS in the work target area CA. The turn travel path setting unit 32B is configured to set a turn travel path LM that connects to the two work travel paths LS in an outer peripheral area SA outside the work target area CA.

[0029] The travel control unit 22 is configured to be able to control the travel device 11. The travel control unit 22 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the work travel route LS and the turn travel route LM received from the travel route setting unit 32. More specifically, the travel control unit 22 automatically travels the combine harvester 1 so that reaping travel is performed by automatic travel along the work travel route LS. The work control unit 23 is configured to control the harvester 15. In addition to the harvester 15, the work control unit 23 can control the transport unit 16, the threshing device 13, etc.

[0030] [About turning routes] Work travel routes LS1 and LS2 are set in the work target area CA shown in Figures 4 to 6, and the work travel routes LS1 and LS2 are parallel to each other. In Figures 4 to 9, the straight dotted lines shown in the work target area CA are the work travel routes LS1 and LS2, and the solid lines connecting the work travel routes LS1 and LS2 in the outer circumferential area SA are the turn travel route LM. Note that the turn travel route LM does not indicate whether or not work is performed. In other words, on the turn travel route LM, travel involving work may be performed, or travel without work may be performed.

[0031] Fig. 4 shows a turning travel path LM set by the conventional technology. In the conventional technology example shown in Fig. 4, the turning start point PS1 is located on an extension line of the work traveling path LS1, and the turning end point PE1 is located on an extension line of the work traveling path LS1. The turning start point PS1 and the turning end point PE1 are each separated by a distance D1 from the boundary BD between the work target area CA and the outer circumferential area SA. The area width W1 in Fig. 4 indicates the distance from the boundary BD to the edge of the field.

[0032] In the example of the conventional technology shown in FIG. 4, the combine harvester 1 cuts through the work target area CA along the work travel path LS1, and then moves forward along the extension of the work travel path LS1. When the combine harvester 1 reaches the turning start point PS1, it turns while moving forward toward the turning end point PE1. The combine harvester 1 that starts turning while positioned at the turning start point PS1 is depicted in FIG. 4 with a two-dot chain line. When the combine harvester 1 reaches the turning end point PE1, the harvester 15 is adjacent to the work target area CA while positioned in the outer peripheral area SA. The combine harvester 1 that ends turning and is positioned at the turning end point PE1 is depicted in FIG. 4 with a solid line. Then, when the combine harvester 1 moves straight, the combine harvester 1 performs work traveling along the work travel path LS2 in the work target area CA.

[0033] 5 and 6 show the turn travel path LM set in this embodiment. In the example of this embodiment shown in Fig. 5 and Fig. 6, the turn start point PS2 is located on an extension line of the work travel path LS1, and the turn end point PE2 is located on an extension line of the work travel path LS1. The turn start point PS2 and the turn end point PE2 in this embodiment are each separated by a distance D2 from the boundary BD between the work target area CA and the outer circumferential area SA. The distance D2 is set shorter than the distance D1 shown in Fig. 4. For this reason, in this embodiment, the turn travel path LM is set on the side where the work target area CA is located, relative to the turn travel path LM of the conventional technology.

[0034] The area width W2 in Figures 5 and 6 indicates the distance from the boundary BD to the edge of the field. The area width W2 is narrower than the area width W1 shown in Figure 4. That is, the turning space of the combine harvester 1 shown in Figures 5 and 6 is narrower than the turning space of the combine harvester 1 shown in Figure 4.

[0035] The turn travel path LM includes a turning path that causes the combine harvester 1 to turn forward. The turning path includes an arc-shaped path along which the combine harvester 1 turns 90 degrees from the turning start point PS2, a path along which the combine harvester 1 travels straight after turning 90 degrees from the turning start point PS2, and an arc-shaped path along which the combine harvester 1 turns another 90 degrees toward the turning end point PE2. Of the turn travel path LM of this embodiment, the path between the turning start point PS2 and the turning end point PE2 corresponds to the "turning path" of the present invention. The turning end point PE2 corresponds to the "end point of the turning path" of the present invention.

[0036] The travel control unit 22 automatically travels the combine harvester 1 along the turn travel path LM. In the example of this embodiment shown in FIG. 5, the combine harvester 1 cuts through the work target area CA along the work travel path LS1, and then moves forward along the extension line of the work travel path LS1. When the combine harvester 1 reaches the turning start point PS2, it turns while moving forward toward the turning end point PE2. The combine harvester 1 that starts turning while positioned at the turning start point PS2 is depicted by a two-dot chain line in FIG. 5. Between the time when the combine harvester 1 cuts through the work target area CA and the time when the combine harvester 1 reaches the turning end point PE2, the work control unit 23 controls the reaping cylinder 17 to raise the harvesting unit 15. In other words, the work control unit 23 is configured to raise the harvesting unit 15 when the combine harvester 1 is automatically traveling along the turning path.

[0037] When the combine harvester 1 reaches the turning end point PE2, the harvester 15 is located inside the work target area CA. The combine harvester 1 that has finished turning and is located at the turning end point PE2 is depicted in solid lines in FIG. 5. At this time, the front part of the traveling device 11 is located in the outer circumferential area SA and adjacent to the work target area CA. In other words, the turn travel path setting unit 32B calculates the turning path so that the harvester 15 is located inside the work target area CA when the combine harvester 1 is at the end point of the turning path.

[0038] After the combine harvester 1 reaches the turning end point PE2 as shown in Fig. 5, the combine harvester 1 travels backward to the reverse position PF as shown in Fig. 6. The combine harvester 1 travels backward in the direction of the right-facing arrow shown above the turning end point PE2 in Fig. 6. The combine harvester 1 that has finished its reverse travel and is located at the reverse position PF is depicted by a solid line in Fig. 6. In other words, the turn travel path LM includes a reverse path that causes the combine harvester 1 to travel backward from the turning end point PE2. The path between the turning end point PE2 and the reverse position PF corresponds to the "reverse path" of the present invention.

[0039] The reverse position PF is spaced a distance D1 from the boundary BD between the work target area CA and the outer peripheral area SA. The distance D1 shown in Fig. 6 is the same as or approximately the same as the distance D1 shown in Fig. 4. When the combine 1 travels backward to the reverse position PF, the harvesting unit 15 transitions from a state in which it is located inside the work target area CA as depicted by the two-dot chain line in Fig. 6 to a state in which it is located adjacent to the work target area CA and is in the outer peripheral area SA.

[0040] When the combine harvester 1 travels backward to the reverse position PF, the work control unit 23 controls the reaping cylinder 17 to lower the harvester 15. In other words, the work control unit 23 is configured to lower the harvester 15 when the combine harvester 1 is automatically traveling along the reverse path. Then, the combine harvester 1 travels forward in the direction of the left-facing arrow shown at the top of the page at the turning end point PE2 in Fig. 6. If the combine harvester 1 continues to travel straight, the combine harvester 1 travels along the work travel path LS2 in the work target area CA.

[0041] As described above, the distance D2 shown in Fig. 5 and Fig. 6 is set shorter than the distance D1 shown in Fig. 4. For this reason, the turning path between the turning start point PS2 and the turning end point PE2 is set to be closer to the side where the work target area CA is located than the turning path between the turning start point PS1 and the turning end point PE1 shown in Fig. 4. As shown in Fig. 5, when the combine harvester 1 reaches the turning end point PE2, the harvester 15 is located inside the work target area CA, and the front part of the traveling device 11 is located in the outer peripheral area SA and adjacent to the work target area CA. Therefore, with the turn travel path LM shown in Fig. 5 and Fig. 6, compared to the case of the conventional technique shown in Fig. 4, even if the turning space in the outer peripheral area SA is narrow, the combine harvester 1 can turn and travel without trampling down unharvested crops in the work target area CA.

[0042] The setting location of the turning start point PS2 will be described with reference to Figures 7 and 8. In this embodiment, the purpose is to set a turning travel path LM that allows the combine 1 to turn as maneuverably as possible even in a narrow space. At the same time, it is important not to trample unharvested crops in the work target area CA with the traveling device 11 at the timing of starting turning. In this embodiment, two patterns for setting the distance D2 between the turning start point PS2 and the boundary BD will be described, a pattern shown in Figure 7 and a pattern shown in Figure 8.

[0043] In the pattern shown in FIG. 7, the distance D2 is set so that the combine harvester 1 starts turning immediately after the rear end of the traveling device 11 of the combine harvester 1 crosses the boundary BD between the work target area CA and the outer circumferential area SA. Therefore, the combine harvester 1 starts turning after the rear end of the traveling device 11 leaves the work target area CA. This reliably avoids the risk of the traveling device 11 trampling down unharvested crops in the work target area CA. In other words, in the pattern shown in FIG. 7, the turn travel path setting unit 32B sets the turning path so that the combine harvester 1 starts turning immediately after the rear end of the traveling device 11 of the combine harvester 1 crosses the boundary BD between the work target area CA and the outer circumferential area SA.

[0044] In the pattern shown in FIG. 8, the distance D2 is set so that the combine harvester 1 starts turning just before the rear end of the traveling device 11 of the combine harvester 1 crosses the boundary BD between the work target area CA and the outer circumferential area SA. The distance D2 shown in FIG. 8 is shorter than the distance D2 shown in FIG. 7. Therefore, the combine harvester 1 starts turning before the rear end of the traveling device 11 completely leaves the work target area CA. Since the traveling device 11 in this embodiment is composed of left and right crawlers, the combine harvester 1 turns based on the rotation difference between the left and right crawlers. At this time, the inner crawler in the turning radius direction tends to rotate around the center of gravity of the combine harvester 1 with respect to the field scene in a plan view. For this reason, the front part of the inner crawler is displaced to the side where the unharvested crops are located in the left and right direction of the machine body 10, and the rear part of the same crawler is displaced to the opposite side to the side where the unharvested crops are located in the left and right direction of the machine body 10. Therefore, even if the combine harvester 1 starts turning before the rear end of the traveling device 11 completely leaves the work target area CA, the rear end of the traveling device 11 is displaced to the side opposite to the side where the unharvested crops are located in the work target area CA, and there is almost no risk that the traveling device 11 will run over the unharvested crops. This makes it possible to move the turn travel path LM as close as possible to the side where the work target area CA is located without the traveling device 11 running over the unharvested crops in the work target area CA. In other words, in the pattern shown in FIG. 8, the turn travel path setting unit 32B sets the turning path so that the combine harvester 1 starts turning just before the rear end of the traveling device 11 of the combine harvester 1 crosses the boundary BD between the work target area CA and the outer circumferential area SA. This makes it easy to move the turning path spanning the turning start point PS2 and the turning end point PE2 closer to the side where the work target area CA is located.

[0045] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be described below.

[0046] (1) In the above embodiment, the combine harvester 1 is exemplified as a working vehicle having a working implement, but is not limited to this embodiment. For example, the working vehicle may be a corn harvester or a root vegetable harvester (e.g., a potato harvester, a beet harvester, a carrot harvester, etc.), a field sprayer having a spraying device, or a tractor with a working implement (e.g., a cultivator, a seeding machine, a mulcher, etc.) coupled to a PTO shaft.

[0047] (2) In the pattern shown in FIG. 8, the turn travel path setting unit 32B sets a turning path so that the combine harvester 1 starts turning just before the rear end of the travel device 11 of the combine harvester 1 crosses the boundary BD between the work target area CA and the outer circumferential area SA. In this embodiment, the travel device 11 is configured with left and right crawlers, but is not limited to this embodiment. For example, the travel device 11 may be a wheel with a rear wheel steering system or a wheel with a four wheel steering system. When the travel device 11 is a wheel with a four wheel steering system, the front wheels and the rear wheels may be steered in opposite phases, and the turning path may be set so that the rear wheels are displaced in a direction away from the unharvested crops when they are located in the work target area CA.

[0048] (3) In the above embodiment, the turning travel path LM includes a reverse path that causes the combine 1 to travel backward from the end point of the turning path, but is not limited to this embodiment. For example, if the work vehicle is a field sprayer having a spraying device, it is possible that the field sprayer continues to move forward and automatically travels along the work travel path LS. In this case, the turning travel path LM may be configured not to include a reverse path.

[0049] (4) In the embodiment shown in Figures 5 and 6, the turn travel path LM includes an arc-shaped path along which the combine harvester 1 turns 90 degrees from the turn start point PS2, a path along which the combine harvester 1 travels straight after turning 90 degrees from the turn start point PS2, and an arc-shaped path along which the combine harvester 1 travels another 90 degrees toward the turn end point PE2. This embodiment is not limited to this, and the turn travel path LM may not include a straight path. In this case, the turn travel path LM may be a 180-degree arc-shaped path between the turn start point PS2 and the turn end point PE2.

[0050] (5) In the example of this embodiment shown in FIG. 5, when the combine 1 cuts through the work target area CA along the work travel path LS1 and reaches the turning start point PS2, it turns while moving forward toward the turning end point PE2. This embodiment is not limited to this, and for example, as shown in FIG. 9, when the work vehicle 40 runs through the work target area CA along the work travel path LS1 and reaches the turning start point PS3, it may turn while moving backward toward the turning end point PE3. In addition, the turning path of this embodiment does not have to be a path that turns 180 degrees. The work vehicle 40 that starts turning backward at the turning start point PS3 is shown by a two-dot chain line in FIG. 9, and the work vehicle 40 that ends turning backward at the turning end point PE3 is shown by a solid line in FIG. 9.

[0051] In the embodiment shown in FIG. 9, a working device 41 is attached to the rear of the work vehicle 40. When the work vehicle 40 reaches the turning end point PE3, the working device 41 is located inside the work target area CA. In other words, the turn travel path LM may include a turning path for making the work vehicle 40 turn backward. Also, in the embodiment shown in FIG. 9, the turn travel path LM includes a forward turning path extending from the turning end point PE3 to the turning travel end point PE4. The work vehicle 40 that has ended its forward turning travel at the turning travel end point PE4 is shown by a two-dot chain line in FIG. 9. In other words, the turn travel path LM may be configured to include multiple turning paths.

[0052] The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. In addition, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be appropriately modified within the scope of the present invention. [Industrial Applicability]

[0053] The present invention can be applied to an automatic driving system for a work vehicle having a work implement. [Explanation of symbols]

[0054] 1: Combine (work vehicle) 11: Running gear 15: Harvesting section (working equipment) 22: Driving control unit 23: Work control section 32A: Work travel route setting unit 32B: Turn driving route setting section CA : Area of ​​interest SA: Outer area BD: Boundary LS: Work route LS1: Work route LS2: Work route LM: Turning route PE: End of turn (end point of turning path)

Claims

1. An automatic driving system for a work vehicle having a work device, A work travel route setting unit that sets a plurality of parallel work travel routes to a work target area; a turn travel path setting unit that sets a turn travel path connecting to the two work travel paths in an outer periphery area outside the work target area; a travel control unit that automatically travels the work vehicle along the turning travel path; A work control unit that controls the work device is provided. the turning travel route includes a turning route for making the work vehicle turn so that a reference point defined at a preset location on the work vehicle is located on the route, and a reverse travel route for making the work vehicle reverse from an end point of the turning route so that the reference point is located on the route, the turning travel path setting unit calculates the turning path such that the working implement is located inside the work target area when the reference point is located at an end point of the turning path, The work control unit is configured to raise the work device when the work vehicle is automatically traveling along the turning path, and is configured to lower the work device when the work vehicle is automatically traveling along the reverse path.

2. The working device is provided at the front of the work vehicle, The automatic driving system according to claim 1 , wherein the work travel route setting unit sets a plurality of the work travel routes in the work target area where crops are planted.

3. The automatic driving system of claim 1 or 2, wherein the turn driving path setting unit sets the turning path so that the work vehicle starts turning immediately after the rear end of the travelling gear of the work vehicle crosses the boundary between the work target area and the outer periphery area.

4. The automatic driving system of claim 1 or 2, wherein the turn driving path setting unit sets the turning path so that the work vehicle starts turning just before the rear end of the travelling gear of the work vehicle crosses the boundary between the work target area and the outer periphery area.

Images