Autonomous driving system and autonomous driving method

Abstract

To provide an automatic operation system and an automatic operation method that allow automatic operation to be executed appropriately even in a falling-down region by creating a travelling route according to a falling-down state of grain culm.SOLUTION: An automatic operation system includes: a falling-down information setting unit 61 for automatically or manually setting falling-down information including a falling-down direction of grain culm in a falling-down region where grain culm is falling down in a farm field; a travelling route creation unit 62 for creating a travelling route including one direction reaping route for reaping grain culm in the falling-down region in a predetermined recommended reaping direction with respect to the falling-down direction; and an automatic operation control unit 63 for controlling the automatic travelling and automatic reaping of a combine 1 according to the travelling route. After causing the combine 1 to perform the one direction reaping from a starting position of the one direction reaping route to an ending position, the automatic operation control unit 63 causes the combine 1 to move backwards from an ending position side to a starting position side.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to Depending on the state of lodging of the culms in the field Automatic driving and harvesting according to the route Autonomous driving system and autonomous driving method Regarding. [Background technology]

[0002] Conventionally, combine harvesters that harvest stalks while traveling through farm fields can automatically travel and harvest along a preset route based on the location information of the device itself obtained using a satellite positioning system such as GPS.

[0003] For example, in the harvesting system for an autonomous combine disclosed in Patent Document 1, an electronic camera that captures the field is installed on an autonomous multicopter that flies above the combine's body, which autonomously travels based on a pre-entered harvesting path, on a flight path corresponding to the harvesting path, and the field image captured by the electronic camera is transmitted electronically to the combine's main unit control unit. The combine analyzes the field image with the main unit control unit, forms a corrected harvesting path that avoids obstacles and areas where the degree of lodging of culms is above a predetermined limit, and travels autonomously according to the corrected harvesting path.

[0004] Furthermore, in the agricultural work support system disclosed in Patent Document 2, a combine harvester allows an operator to input the lodging state of the culms, and automatically operates at a speed according to the lodging state. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-28688 A [Patent Document 2] JP 2018-201342 A Summary of the Invention [Problem to be solved by the invention]

[0006] When a combine harvester harvests crops, there are preferred directions for reaping the crop depending on the type of crop and the state of the culms. For example, when the crop to be harvested is rice or wheat and the culms are at a large angle of lodging, it is preferable to slowly reaper the crop by following up. In conventional autonomous combine harvesters, the travel path is automatically created based on the shape of the field, so in areas where the culms are lodged at a predetermined angle or more, the reaping corresponding to the travel path may be on the opposite side. In such areas where the travel path is on the opposite side, automatic reaping is difficult.

[0007] Some combine harvesters perform automatic operation, controlling steering by automatic driving while controlling speed according to manual operation, but this automatic operation requires manual operation such as manually bypassing fallen areas where the travel path is for cutting on the opposite side or manually performing additional cutting. Some combine harvesters perform unmanned operation, controlling steering and speed by automatic driving. In this unmanned operation, it is possible to automatically cut fallen areas where the travel path is for cutting on the opposite side at a low speed, but it is more difficult to work accurately than additional cutting.

[0008] In the technology described in Patent Document 1, the combine harvester can avoid the fallen area and continue automatic operation, but cannot harvest the fallen area. Therefore, the operator must manually operate the combine harvester in the fallen area to, for example, harvest the fallen rice or wheat, which requires time and effort to switch between automatic and manual operation, and also places a burden on the operator when operating the combine harvester manually.

[0009] In addition, in the technology described in Patent Document 2, the combine harvester can automatically operate at a speed according to the state of lodging, but cannot appropriately match the state of lodging with the reaping direction. Therefore, even if the reaping direction is not suitable for the lodged crop, automatic reaping is performed, and even if it is necessary to reaper the lodged rice or wheat, automatic reaping is performed as is, so the lodged crop cannot be reaped accurately.

[0010] The present invention creates a travel route according to the state of the stalks, and can perform automatic operation appropriately even in areas where the stalks have fallen. Autonomous driving system and autonomous driving method The purpose is to provide. [Means for solving the problem]

[0011] In order to solve the above problems, the present invention Autonomous Driving System indicates the area where the culms have fallen in the field. Including the direction of lodging of the culm A lodging information setting unit that automatically or manually sets lodging information, and A one-way mowing route for mowing the grass in a predetermined recommended mowing direction relative to the falling direction. A travel route creation unit that creates a travel route including the Combine harvester An automatic driving control unit that controls automatic driving and automatic reaping, The automatic operation control unit causes the combine to perform unidirectional mowing from the start position to the end position of the unidirectional mowing path, and then causes the combine to retreat from the end position side to the start position side. .

[0012] The present invention Autonomous Driving System In The automatic driving control unit causes the combine harvester to move backward from the end position side of the one-way mowing route to the start position side, and then automatically travels to the start position of another one-way mowing route. .

[0013] The present invention Autonomous Driving System In The traveling speed or the reaping speed of the combine is set based on the fallen information. .

[0014] The present invention Autonomous Driving System In The lodging information includes a lodging angle of the culm, and a traveling speed or a reaping speed of the combine is set based on the lodging angle of the culm. .

[0015] The present invention Autonomous driving method teeth, The present invention comprises automatically or manually setting lodging information including a lodging direction of the stalks in a lodging area in a field where the stalks are lodged, creating a travel route including a one-way mowing route for mowing the stalks in the lodged area in a predetermined recommended mowing direction relative to the lodging direction, and controlling automatic travel and automatic mowing of a combine harvester according to the travel route, and causing the combine harvester to perform one-way mowing from a start position to an end position of the one-way mowing route, and then retreating from the end position side to the start position side. . Effect of the Invention

[0016] According to the present invention, a travel route is created according to the state of the stalks, and automatic operation can be performed appropriately even in areas where the stalks are lying down. Autonomous driving system and autonomous driving method to provide. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram of a mobile station and a base station of a combine according to an embodiment of the present invention. [Diagram 3]FIG. 1 is a block diagram of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 1 is a plan view showing a field for a first example of a combine harvester according to an embodiment of the present invention. [Diagram 5] FIG. 1 is a plan view showing a field for a first example of a combine harvester according to an embodiment of the present invention. [Figure 6] FIG. 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a headland. [Figure 7] FIG. 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a headland. [Figure 8] FIG. 2 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention. [Figure 9] 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a travel path. FIG. [Figure 10] 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a travel path. FIG. [Figure 11] FIG. 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a falling area and a travel path. [Figure 12] FIG. 1 is a plan view showing a farm field of a first embodiment of a combine harvester according to an embodiment of the present invention, together with a falling area and a travel path. [Figure 13] FIG. 2 is a plan view showing a farm field of a first example of a combine harvester according to an embodiment of the present invention, with a lodging affected area divided into a one-way mowing compatible area and a one-way mowing unnecessary area. [Figure 14] FIG. 2 is a plan view showing a farm field of a first example of a combine harvester according to an embodiment of the present invention, with a lodging affected area divided into a one-way mowing compatible area and a one-way mowing unnecessary area. [Figure 15] FIG. 2 is a plan view showing a farm field of a first example of a combine harvester according to an embodiment of the present invention, together with a corrected travel path. [Figure 16] FIG. 2 is a plan view showing a farm field of a first example of a combine harvester according to an embodiment of the present invention, together with a corrected travel path. [Figure 17]FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, together with a falling area and a travel path. [Figure 18] FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, in which the area affected by lodging is divided into a one-way mowing compatible area and a one-way mowing unnecessary area. [Figure 19] FIG. 11 is a plan view showing another example of a farm field of the first embodiment of the combine harvester according to the embodiment of the present invention, together with a corrected travel path. [Figure 20] FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, together with a falling area and a travel path. [Figure 21] FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, in which the area affected by lodging is divided into a one-way mowing compatible area and a one-way mowing unnecessary area. [Figure 22] FIG. 11 is a plan view showing another example of a farm field of the first embodiment of the combine harvester according to the embodiment of the present invention, together with a corrected travel path. [Figure 23] FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, together with a falling area and a travel path. [Figure 24] FIG. 11 is a plan view showing another example of a farm field for the first embodiment of the combine harvester according to the embodiment of the present invention, in which the area affected by lodging is divided into a one-way mowing compatible area and a one-way mowing unnecessary area. [Diagram 25] FIG. 11 is a plan view showing another example of a farm field of the first embodiment of the combine harvester according to the embodiment of the present invention, together with a corrected travel path. [Figure 26] FIG. 11 is a plan view showing a farm field of a second embodiment of the combine harvester according to the present invention, together with a fallen area. [Figure 27] FIG. 11 is a plan view showing a field of a third embodiment of a combine harvester according to an embodiment of the present invention, together with a fallen area. [Figure 28] FIG. 11 is a plan view showing a farm field of a second embodiment of a combine harvester according to an embodiment of the present invention, together with a falling area and a travel path. [Figure 29]FIG. 11 is a plan view showing a farm field of a third embodiment of a combine harvester according to an embodiment of the present invention, together with a falling area and a travel path. [Diagram 30] FIG. 11 is a plan view showing a farm field of a second embodiment of the combine harvester according to the present invention, together with a fallen area and a corrected travel path. [Diagram 31] FIG. 11 is a plan view showing a farm field of a second embodiment of the combine harvester according to the present invention, together with a fallen area and a corrected travel path. [Diagram 32] FIG. 11 is a plan view showing a field of a second embodiment of the combine harvester according to the present invention, together with a fallen area and a further modified travel path. [Diagram 33] FIG. 11 is a plan view showing a field in a third embodiment of the combine harvester according to the present invention, together with a fallen area and a corrected travel path. [Diagram 34] FIG. 11 is a plan view showing a field in a third embodiment of the combine harvester according to the present invention, together with a fallen area and a corrected travel path. [Diagram 35] FIG. 11 is a plan view showing a field of a third embodiment of a combine harvester according to an embodiment of the present invention, together with a fallen area and a further modified travel path. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] A combine harvester 1 according to an embodiment of the present invention will be described. The combine harvester 1 travels in a target field by automatic or manual operation, and performs work such as harvesting stalks in the field. For example, the combine harvester 1 is configured to perform automatic operation in which steering is controlled by automatic operation, while controlling the traveling speed in response to manual operation, and unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn, and work autonomously in the field.

[0019] 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.

[0020] 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.

[0021] The reaping unit 3 is provided in front of the traveling unit 2. The reaping unit 3 includes a divider 13, a raising device 14, a cutting device 15, and a conveying device 16. The divider 13 guides the culms in the field 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 conveying device 16 conveys the culms cut by the cutting device 15 to the threshing unit 4.

[0022] 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.

[0023] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, a wind sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The wind sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the wind sorting device 22 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the wind sorting device 22 to the outside of the machine.

[0024] 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 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.

[0025] 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.

[0026] 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.

[0027] The control unit 9 is provided above the power unit 8. The control unit 9 includes a driver's seat 29 and a plurality of operating tools (not shown). The driver's seat 29 is a seat where an operator sits, and is provided, for example, on the right side. The operating tools include a handle for changing the traveling direction of the combine harvester 1, i.e., for steering the combine harvester 1, and the operator can control the traveling and operation of the combine harvester 1 by operating the operating tools such as the handle. The operating tools also include an accelerator for adjusting the rotation speed of the engine 27, i.e., the traveling speed of the traveling part 2 of the combine harvester 1, and a lift switch for raising and lowering the reaping part 3. The operating tools also include a monitor that can display farm field images and the like captured by the vehicle camera 32, fixed camera 43, mobile camera 54, or aerial camera 57 described below.

[0028] The combine harvester 1 is equipped with a machine body camera 32 (see FIG. 3) that captures images of the surroundings of the combine harvester 1. The machine body camera 32 captures images of the field to be worked on and acquires the field images.

[0029] 2, the combine harvester 1 includes a mobile station 34 that acquires position information of the combine harvester 1 using a satellite positioning system such as GPS. The mobile station 34 includes, for example, a mobile communication device 35, a mobile GPS antenna 36, ​​and a data receiving antenna 37. The mobile communication device 35 acquires position information of the mobile station 34, i.e., position information of the combine harvester 1, by communicating with a GPS satellite via the mobile GPS antenna 36.

[0030] 2, a base station 39 is installed on the ridges around the field where the combine harvester 1 is to work, and the base station 39 includes a fixed communication device 40, a fixed GPS antenna 41, and a data transmission antenna 42. The fixed communication device 40 acquires position information of the base station 39 by communicating with a GPS satellite via the fixed GPS antenna 41. The fixed communication device 40 transmits correction information based on the position information of the base station 39 to the mobile communication device 35 via the data transmission antenna 42.

[0031] The base station 39 also includes a fixed camera 43 that photographs the field. The fixed camera 43 photographs the field to be worked on and acquires field images. The fixed communication device 40 acquires the images captured by the fixed camera 43 and transmits them to the mobile communication device 35 via the data transmission antenna 42.

[0032] The mobile communication device 35 of the mobile station 34 performs wireless communication with the fixed communication device 40 of the base station 39 via a data receiving antenna 37. The mobile communication device 35 receives correction information from the fixed communication device 40 and corrects the position information of the mobile station 34, i.e., the position information of the combine 1, based on the correction information. The mobile communication device 35 receives farm field images captured by the fixed camera 43 from the fixed communication device 40.

[0033] Next, the control device 50 of the combine harvester 1 will be described with reference to FIG.

[0034] The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, a flash memory, etc. The storage unit 51 stores programs and data for controlling various components and various functions of the combine harvester 1, and the control device 50 controls the various components and various functions by executing arithmetic processing based on the programs and data stored in the storage unit 51. For example, the control device 50 controls the mobile station 34 to obtain position information of the combine harvester 1 from the mobile communication device 35.

[0035] The combine harvester 1 is equipped with a communication unit 52, and the control device 50 performs wireless communication with external devices such as a mobile terminal 53 held by an operator via the communication unit 52, and transmits and receives various information to and from the mobile terminal 53. The mobile terminal 53 is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, by a tablet terminal equipped with a touch panel or a notebook-type personal computer. Note that an operating tool similar to the mobile terminal 53 may be provided in the control unit 9. The mobile terminal 53 is equipped with a mobile camera 54 that captures images. The mobile camera 54 captures, for example, an image of the field to be worked on to obtain the field image.

[0036] The mobile terminal 53 is configured to receive input operations, such as touch operations on a touch panel, for field information related to the field to be worked on and lodging information related to a lodging area in the field where the stalks have lodged at a predetermined angle or more. The mobile terminal 53 displays a field information setting screen on which the shape of the field edge constituting the periphery of the field (hereinafter referred to as the field shape), position information (coordinates, etc.) of the field edge, row direction of the stalks in the field, etc. can be set as field information, and also displays a lodging information setting screen on which the shape of the lodging area, position information (coordinates, etc.) of the periphery of the lodging area, lodging direction of the stalks, lodging angle of the stalks, etc. can be set as lodging information.

[0037] The mobile terminal 53 can also display a field map based on the field information, the travel path of the combine 1 on the field map so that the travel direction can be seen, and can also display a fallen area on the field map. The mobile terminal 53 can also display the field map on the lodging information setting screen and allow the user to specify a fallen area on the field map.

[0038] The control device 50 wirelessly communicates with an aerial photography device 56 such as a drone equipped with an aerial photography camera 57 via the communication unit 52. The aerial photography device 56 may wirelessly communicate with a mobile terminal 53. The control device 50 or the mobile terminal 53 receives an operation instruction for the aerial photography device 56 from an operator, and the aerial photography device 56 operates according to the operation instruction received from the communication unit 52 or the mobile terminal 53. The control device 50 or the mobile terminal 53 also receives an instruction to photograph the field from an operator, and the aerial photography device 56 receives the photographing instruction from the communication unit 52 or the mobile terminal 53. The aerial photography device 56 controls the aerial photography camera 57 according to the photographing instruction, and the aerial photography camera 57 photographs the field to obtain a field image. The aerial photography device 56 transmits the field image photographed by the aerial photography camera 57 to the communication unit 52 or the mobile terminal 53.

[0039] The control device 50 controls the aircraft camera 32 to capture images of the field and displays them on the monitor of the control unit 9. The control device 50 also controls the mobile communication device 35 to receive images of the field captured by the fixed camera 43 from the fixed communication device 40 and displays them on the monitor of the control unit 9. The control device 50 controls the communication unit 52 to receive images of the field captured by the mobile camera 54 from the mobile terminal 53 and displays them on the monitor of the control unit 9. The control device 50 controls the communication unit 52 to receive images of the field captured by the aerial camera 57 from the aerial photography device 56 and displays them on the monitor of the control unit 9.

[0040] In addition, the control device 50 executes the programs stored in the memory unit 51 to operate as a farm field information setting unit 60, a lodging information setting unit 61, a travel path creation unit 62, and an automatic driving control unit 63. The field information setting unit 60, the lodging information setting unit 61, the driving path creation unit 62 and the automatic driving control unit 63 function as an automatic driving system or an automatic driving method that performs automatic driving and automatic harvesting according to a driving path that corresponds to the lodging state of the stalks in the field.

[0041] The field information setting unit 60 automatically or manually sets field information related to the field to be worked on and stores it in the storage unit 51. For example, the field information setting unit 60 manually sets the field information in response to an input operation of the field information on the field information setting screen of the mobile terminal 53. Alternatively, the field information setting unit 60 acquires a field image of the field photographed by the on-board camera 32 of the combine harvester 1, the fixed camera 43 of the base station 39, the mobile camera 54 of the mobile terminal 53, or the aerial camera 57 of the aerial photography device 56, and automatically acquires the field information by performing image analysis of the field image. The field information setting unit 60 may analyze the field information from the field image of one camera of the on-board camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57, or may analyze the field information from the field images of two or more cameras.

[0042] In addition, the field information setting unit 60 can obtain more accurate field information by ensuring consistency between field information manually set via the mobile terminal 53 and field information automatically set from field images from the airborne camera 32, the fixed camera 43, the mobile camera 54 or the aerial camera 57.

[0043] The lodging information setting unit 61 automatically or manually sets lodging information relating to lodging areas in the field where culms have fallen at a predetermined angle or more, and stores the information in the memory unit 51. The lodging area is not limited to the lodged culms, but is preferably set to a rectangular shape that includes the lodged culms and extends in the row direction of the culms and in a direction intersecting the row direction. This makes it easier to clearly distinguish between reaping areas that include lodged areas and reaping areas that do not include lodged areas, making it easier to set a travel route appropriate for each.

[0044] For example, the lodging information setting unit 61 manually sets the lodging information in response to an input operation of the lodging information on the lodging information setting screen of the mobile terminal 53. Alternatively, the lodging information setting unit 61 acquires a field image taken by the on-board camera 32 of the combine harvester 1, the fixed camera 43 of the base station 39, the mobile camera 54 of the mobile terminal 53, or the aerial camera 57 of the aerial photography device 56, and automatically acquires lodging information such as the shape of the lodging area, the position information of the periphery of the lodging area, the lodging direction and the lodging angle of the culms, by performing image analysis of the field image. For example, an image of a field consisting of normal culms that have not fallen is registered in advance, and the lodging information is analyzed by comparing the registered image of the normal field with the captured field image. In addition, the lodging information setting unit 61 may analyze the lodging information from a field image from one of the aircraft camera 32, the fixed camera 43, the mobile camera 54 or the aerial camera 57, or may analyze the lodging information from field images from two or more cameras.

[0045] In addition, the lodging information setting unit 61 can obtain more accurate lodging information by ensuring consistency between lodging information manually set via the mobile terminal 53 and lodging information automatically set from field images from the on-board camera 32, the fixed camera 43, the mobile camera 54 or the aerial camera 57.

[0046] The travel path creation unit 62 creates a travel path that the combine harvester 1 refers to in order to automatically travel and automatically mow in the field, and stores the travel path in the memory unit 51. The travel path includes not only travel settings related to travel, but also work settings related to work such as mowing. The travel settings include the travel position in the field, as well as the travel speed and direction of travel (steering direction and forward or backward) at each travel position. The work settings include information on whether mowing is started or stopped at each travel position, the mowing speed and mowing height, and other work. The travel path creation unit 62 sets a straight path for mowing while traveling, and preferably sets a travel path by combining multiple straight paths for an area of ​​unmowed stalks in the field.

[0047] The travel path creation unit 62 may create a travel path so that the reaping proceeds from the periphery to the center in the uncut stalk area, and may create a travel path so that the driver's seat 29 side is outside the uncut stalk area. When creating or correcting a new travel path, the travel path creation unit 62 may provisionally create multiple candidate travel paths and select a travel path with better work efficiency. Work efficiency is determined taking into consideration not only travel with reaping but also free travel distance, turning, etc.

[0048] First, the travel path creation unit 62 creates a travel path corresponding to the field to be worked on in advance. The travel path creation unit 62 may set the travel path manually in response to an input operation using the mobile terminal 53, or may automatically set the travel path based on the field information set by the field information setting unit 60. The travel path creation unit 62 sets a travel path for a predetermined travel pattern such as reciprocating mowing travel or circular mowing travel. The travel path includes a free travel path for moving from one straight line path to another straight line path in addition to a straight line path for mowing the stalks, and the travel path creation unit 62 may create a travel path such that the free travel distance of the free travel path is shorter.

[0049] Furthermore, the travel path creation unit 62 judges whether or not the reaping corresponding to the travel path in the lodged area is appropriate based on the set travel path and the farm field information and the lodging information set by the lodging information setting unit 61, and if it is not appropriate, corrects the travel path so as to appropriately reaper the stalks in the lodged area. The travel path creation unit 62 may analyze the corrected travel path and correct the travel path so as to shorten the free travel distance of the free travel path.

[0050] For example, the travel path creation unit 62 determines the reaping direction for the culms in the fallen area based on the travel direction of the travel path in the fallen area and the falling direction of the culms in the fallen area. When the travel direction is the same as the falling direction of the culms, the reaping direction is forward reaping, and when the travel direction is opposite the falling direction of the culms, the reaping direction is forward reaping. When the travel direction faces a left-leaning culm, the reaping direction is left-leaning reaping, and when the travel direction faces a right-leaning culm, the reaping direction is right-leaning reaping. When the crop is rice, wheat, or the like, forward reaping or left-leaning reaping is the preferred recommended reaping direction, and in other cases, forward reaping may be the recommended reaping direction.

[0051] Then, when the reaping direction of the travel path in the fallen area is different from a predetermined recommended reaping direction, for example, when the reaping direction is for rice, wheat, or other culms, or for other purposes other than forcing cut or left-leaving cut, the travel path creation unit 62 determines that the travel path in the fallen area needs to be corrected, and corrects the travel path so that the reaping direction in the fallen area becomes the recommended reaping direction. When correcting the travel path for harvesting rice, wheat, or other crops, the travel path creation unit 62 may set forcing cut as a priority, and may set left-leaving cut instead of forcing cut to further shorten the free travel distance. For example, if the reaping direction in the fallen area is forcing cut, the travel path creation unit 62 can correct the reaping direction in the fallen area to forcing cut in the recommended reaping direction by correcting the travel path so that the travel direction is the opposite direction.

[0052] The automatic driving control unit 63 controls the power unit 8, the traveling unit 2, and the reaping unit 3 based on the travel settings and work settings of the travel route created by the travel route creation unit 62, to perform automatic traveling and automatic reaping according to the travel route. The automatic driving control unit 63 automatically reaps uncut stalks on the travel route by the reaping unit 3. In addition, the automatic driving control unit 63 controls the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 in conjunction with the automatic reaping to automatically perform threshing of the stalks after reaping, sorting of grains and straw chips after threshing, storage of the grains after sorting, processing of straw waste after threshing, etc. The combine harvester 1 may be equipped with a gyro sensor and a direction sensor to obtain displacement information and direction information of the combine harvester 1, and the automatic driving control unit 63 may adjust the automatic traveling of the combine harvester 1 based on the displacement information and direction information.

[0053] Next, a first embodiment will be described in which the travel path creation unit 62 creates a travel path for reciprocating mowing in advance, and then modifies the travel path based on the fallen information. In the first embodiment, the fields H1 and H2 are rectangular as shown in Figs. 4 and 5, and rice, wheat, and other crops are grown. The vertical direction of the paper in Figs. 4 and 5 is the row direction of the culms in the fields H1 and H2. In each of Figs. 4 and 5, the uncut culm areas in the fields H1 and H2 are indicated by diagonal lines that rise to the right. The field H2 shown in Fig. 5 has a longer row arrangement direction and a larger number of rows than the field H1 shown in Fig. 4.

[0054] In the first embodiment, first, before starting the automatic operation of the reciprocating mowing, the combine harvester 1 is manually operated to run and mow in order to secure a turning space during the reciprocating mowing, thereby creating a headland along the outer periphery of the fields H1 and H2 as shown in Figs. 6 and 7. In each of Figs. 6 and 7, the path after mowing is shown by a dashed line. The operator manually controls the power unit 8, the traveling unit 2, and the mowing unit 3 of the combine harvester 1 to run and mow the inside of the fields H1 and H2 so as to circle along the field edge. This creates a headland along the field edge for turning during automatic traveling. In addition, as shown in Fig. 8, in the field H3 where the row arrangement direction is long, the uncut stalk area where automatic operation is performed may be divided by the middle division C.

[0055] Next, the field information setting unit 60 automatically or manually sets field information for the uncut stalk areas of fields H1 and H2, such as the shape of the uncut stalk area which will become the field shape, the position information of the ends of the uncut stalk area which will become the field edges, the row direction of the uncut stalks, etc.

[0056] Based on the field information of the uncut stalk area, the travel path creation unit 62 creates travel paths S1 and S2 for automatic travel and automatic reaping in the uncut stalk area by reciprocating mowing travel in advance and stores them in the memory unit 51 as shown in Figures 9 and 10. Figures 9 and 10 show the travel paths S1 and S2 that are linear paths that go back and forth along the row direction. In the field H2 shown in Figure 5, which has a longer row arrangement direction than the field H1 shown in Figure 4, the uncut stalk area may be divided in the row arrangement direction, and the travel path S2 may be set so that reciprocating mowing travel is performed in each of the divided areas. In the field H3 shown in Figure 8, which has a longer row arrangement direction, the travel path may be set so that the areas divided by the middle division C are sequentially mowed.

[0057] In addition, when the lodging information setting unit 61 detects a lodging area in the field H1 or H2 based on the field image acquired by the airframe camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57, it automatically sets the lodging information, or when the operator visually recognizes the field H1 or H2 and detects a lodging area, it sets the lodging information manually in response to the input operation of the mobile terminal 53 by the operator and stores it in the storage unit 51. In the first embodiment, as shown in Figures 11 and 12, the lodging information setting unit 61 sets the lodging information of the lodging areas T1 and T2 in which the culms are lodged in the direction opposite to the moving direction in the unharvested culm area of ​​the fields H1 and H2. In each of Figures such as Figures 11 and 12, the lodging areas T1 and T2 are indicated by diagonal lines rising to the left, and the lodging direction of the culms is indicated by an outline arrow.

[0058] When the lodging information is set by the lodging information setting unit 61, the travel path creation unit 62 corrects the travel paths S1 and S2 for the reciprocating mowing travel based on the lodging information. In the first embodiment, as shown in Figures 11 and 12, the culms in the lodging areas T1 and T2 are lodged in the direction opposite to the traveling direction, so the mowing direction of the travel paths S1 and S2 before the correction is a forward mowing that is different from the recommended mowing direction, so the travel path S1 and S2 are corrected so that the direction of travel in the lodging areas T1 and T2 is reversed to perform additional mowing. The travel path creation unit 62 sets travel settings and work settings specific to lodged culms for the travel paths S1 and S2 in the lodging areas T1 and T2 in order to properly mow the culms that have fallen in the lodging areas T1 and T2. For example, the travel path creation unit 62 sets the travel speed to a low speed as a travel setting specific to the fallen culms, and sets the reaping speed to a high speed as a work setting specific to the fallen culms. The travel path creation unit 62 may set the travel speed and reaping speed for the travel paths S1 and S2 in the fallen areas T1 and T2 according to the falling angle of the culms.

[0059] However, the correction of the travel paths S1 and S2 of the fallen areas T1 and T2 affects travel over the entire row including the fallen areas T1 and T2, in other words, affects travel over the entire straight path passing through the fallen areas T1 and T2. Therefore, as shown in Figures 13 and 14, the travel path creation unit 62 determines the straight path passing through the fallen areas T1 and T2 whose mowing direction is different from the recommended mowing direction as a one-way mowing compatible path, and determines the area including this one-way mowing compatible path as one-way mowing compatible areas P1 and P2. In each of Figures such as Figures 13 and 14, the one-way mowing compatible areas P1 and P2 are shown with thick lines. The one-way mowing compatible areas P1 and P2 that are initially set have the same length of the row of the uncut stalk area in the row direction.

[0060] In the one-way mowing compatible areas P1 and P2, regardless of whether they are fallen areas T1 and T2, the travel path creation unit 62 sets the recommended mowing direction to be set in the fallen areas T1 and T2 throughout the one-way mowing compatible path, that is, sets the travel direction to be set in the fallen areas T1 and T2 throughout the one-way mowing compatible path, and corrects the travel paths S1 and S2 so that one-way mowing is performed in this travel direction. In the first embodiment, as shown in Figures 15 and 16, the travel path creation unit 62 corrects the travel paths S1 and S2 so that the travel direction of the one-way mowing compatible path is reversed to perform additional mowing. At this time, the travel path creation unit 62 sets the end position at the end of the one-way mowing compatible path on the side of the fallen direction of the stalk, and sets the start position at the end opposite to the end position.

[0061] In addition, since the fields H1 and H2 in the first embodiment have fallen areas T1 and T2 where the stalks have fallen over multiple rows, the travel path creation unit 62 determines the one-way mowing corresponding areas P1 and P2 having multiple one-way mowing corresponding paths. In this case, the travel path creation unit 62 corrects the travel paths S1 and S2 so that, for example, as shown in Figures 15 and 16, automatic mowing is started from the one-way mowing corresponding path at one end side of the arrangement direction of the rows, one-way mowing is performed from the start position to the end position of the one-way mowing corresponding path, and then the one-way mowing is retreated from the end position to the start position and transitions to one-way mowing of another adjacent one-way mowing corresponding path. In each of Figures such as Figures 15 and 16, retreat is indicated by a dashed line.

[0062] Now, the modification of the travel paths S1 and S2 through the fallen areas T1 and T2 will affect not only the straight-line paths that include the fallen areas T1 and T2, but also the travel of other straight-line paths that are connected to these straight-line paths and do not include the fallen areas T1 and T2. In the reciprocating mowing travel of the travel paths S1 and S2 shown in Figures 15 and 16, if a one-way mowing compatible path that is a straight-line path that includes the fallen areas T1 and T2 is set as the outbound path or the return path, a straight-line path that does not include the fallen areas T1 and T2 will be the return path or the outbound path. Modifying such a one-way mowing compatible path for the outbound path or the return path will affect the travel of the return path or the outbound path that is connected to it.

[0063] Therefore, as shown in Figures 15 and 16, the travel path creation unit 62 determines the linear path whose travel is affected due to the correction of the travel paths S1 and S2 in the lodging areas T1 and T2 as the lodging-affected path, and determines the area including this lodging-affected path as the lodging-affected area F1 and F2. Therefore, the lodging-affected path includes the one-way mowing compatible path, and the lodging-affected area F1 and F2 includes the one-way mowing compatible area P1 and P2. The travel path creation unit 62 determines the lodging-affected path other than the one-way mowing compatible path as the one-way mowing-unnecessary path, and determines the area in the lodging-affected area F1 and F2 other than the one-way mowing compatible area P1 and P2 as the one-way mowing-unnecessary area N1 and N2. In each figure such as Figures 13 and 14, the one-way mowing-unnecessary area N1 and N2 are shown by normal lines. The one-way mowing-unnecessary area N1 and N2 set initially have the same length of the row of the uncut stalk area in the row direction.

[0064] Since the one-way mowing-unnecessary areas N1 and N2 do not include the fallen areas T1 and T2, there is no need to perform one-way mowing on the one-way mowing-unnecessary routes, and the mowing direction can be set freely. Since the one-way mowing-compatible routes are limited to one-way mowing, the travel path creation unit 62 may first modify the travel paths S1 and S2 for the one-way mowing-compatible routes among the fallen-affected routes as described above, and then modify the travel paths S1 and S2 for the one-way mowing-unnecessary routes that are not limited to one-way mowing.

[0065] In the first embodiment, the travel path creation unit 62 modifies the travel paths S1 and S2 so that the unidirectional mowing-unnecessary path is driven in a reciprocating manner in the unidirectional mowing-unnecessary areas N1 and N2, but the modification of the unidirectional mowing-unnecessary areas N1 and N2 is not limited to reciprocating mowing, and the travel path creation unit 62 may modify the travel paths S1 and S2 so that the unidirectional mowing is driven in a circular manner in the unidirectional mowing-unnecessary areas N1 and N2. In the first embodiment, the travel paths S1 and S2 before modification started from the unidirectional mowing-unnecessary areas N1 and N2, so that the modified travel paths S1 and S2 also start from the unidirectional mowing-unnecessary areas N1 and N2 in order to shorten the free running distance, but if the travel paths S1 and S2 before modification started from the unidirectional mowing-compatible areas P1 and P2, the modified travel paths S1 and S2 may also start from the unidirectional mowing-compatible areas P1 and P2.

[0066] Furthermore, the travel path creation unit 62 determines an area (hereinafter referred to as a normal area) that does not include the fallen areas T1 and T2 in the unidirectional mowing corresponding areas P1 and P2 based on the positions of the fallen areas T1 and T2 in the unidirectional mowing corresponding areas P1 and P2. Then, when the travel path creation unit 62 determines that the normal areas are more efficient when the normal areas are mowed independently of the fallen areas T1 and T2 than when the normal areas are mowed continuously with the fallen areas T1 and T2, it modifies the initially set unidirectional mowing corresponding areas P1 and P2 and further determines the normal areas as unidirectional mowing unnecessary areas N1 and N2. Mowing of the normal areas independent of the fallen areas T1 and T2 is mowing using a travel pattern different from the unidirectional mowing of the fallen areas T1 and T2, and is mowing when a predetermined travel pattern such as back and forth mowing travel or circular mowing travel is set only in the normal areas.

[0067] As shown in Figures 15 and 16, when the one-way mowing corresponding path is configured as a straight path along the row direction, the one-way mowing corresponding areas P1 and P2 have the same width as the fallen areas T1 and T2 in the row arrangement direction and are formed along the row direction. Therefore, in the one-way mowing corresponding areas P1 and P2, the fallen areas T1 and T2 and the normal area are arranged side by side in the row direction.

[0068] For example, in the field H1 in the example shown in FIG. 15, the normal area is located before and after the fallen area T1, but the length of the normal area in the row direction is relatively short. In this case, the travel path creation unit 62 can determine that, taking into consideration the free running distance to the normal area and the turning in the normal area, the free running distance is shorter and the turning is less when the unidirectional mowing is set to the normal area and the fallen area T1 and the automatic operation of the normal area is performed, compared with the case where an independent travel pattern is set to the normal area and the automatic operation of the normal area is performed, and therefore the work efficiency is better. Therefore, the travel path creation unit 62 does not modify the initially set unidirectional mowing corresponding area P1, does not set an independent travel path S1 to the normal area, and sets the unidirectional mowing travel path S1 over the entire unidirectional mowing corresponding area P1 as described above.

[0069] 17, normal areas are located before and after the fallen area T4, the length in the row direction of the normal area behind the fallen area T4 is relatively short, and the length in the row direction of the normal area in front of the fallen area T4 is relatively long. In this field H4 as well, the travel path creation unit 62 sets a travel path S4 based on the field information, and sets a one-directional mowing compatible area P4 and a one-directional mowing unnecessary area N4.

[0070] The travel path creation unit 62 cannot set an independent travel path S4 with good work efficiency for the normal area behind the fallen area T4, but can set an independent travel path S4 with good work efficiency for the normal area in front of the fallen area T4. Therefore, as shown in Fig. 18, the travel path creation unit 62 modifies the initially set one-directional mowing compatible area P4 and sets a one-directional mowing unnecessary area N4 in the front normal area. Then, as shown in Fig. 19, a one-directional mowing travel path S4 is set for the one-directional mowing compatible area P4 consisting of the fallen area T4 and the rear normal area, and a travel path S4 independent of the fallen area T4 is set for the one-directional mowing unnecessary area N4 consisting of the front normal area.

[0071] In the example shown in Fig. 19, the front normal area is mowed, and then the fallen area T4 and the rear normal area are mowed, but in other examples, the front normal area may be mowed after the fallen area T4 and the rear normal area are mowed according to the row direction. Also, in the example shown in Fig. 19, circular mowing is set for the front normal area, but reciprocating mowing may be set.

[0072] 20, normal areas are located before and after the fallen area T5, and the length in the row direction of the normal area in front of the fallen area T5 is relatively short, while the length in the row direction of the normal area behind the fallen area T5 is relatively long. In this field H5 as well, the travel path creation unit 62 sets a travel path S5 based on the field information, and sets a one-directional mowing compatible area P5 and a one-directional mowing unnecessary area N5.

[0073] The travel path creation unit 62 cannot set an independent travel path S5 for the normal area in front of the fallen area T5 with good work efficiency, but can set an independent travel path S5 for the normal area behind the fallen area T5 with good work efficiency. Therefore, as shown in Fig. 21, the travel path creation unit 62 modifies the initially set one-directional mowing compatible area P5 and sets a one-directional mowing unnecessary area N5 in the rear normal area. Then, as shown in Fig. 22, a one-directional mowing travel path S5 is set for the one-directional mowing compatible area P5 consisting of the fallen area T5 and the front normal area, and a travel path S5 independent of the fallen area T5 is set for the one-directional mowing unnecessary area N5 consisting of the rear normal area.

[0074] In the example shown in FIG. 22, circular mowing is set for the rear normal area, but reciprocating mowing may also be set.

[0075] Alternatively, in the field H6 of the example shown in FIG. 23, where normal areas are arranged before and after the fallen area T6, the length of the normal areas in the row direction is relatively long. In this field H6 as well, the travel path creation unit 62 sets the travel path S6 based on the field information and sets the one-directional mowing compatible area P6 and the one-directional mowing unnecessary area N6. The travel path creation unit 62 can set independent travel paths S6 for both the normal areas before and after the fallen area T6 with good work efficiency. Therefore, as shown in FIG. 24, the travel path creation unit 62 corrects the one-directional mowing compatible area P6 that was initially set, and sets the one-directional mowing unnecessary area N6 for the normal areas before and after. Then, as shown in FIG. 25, the one-directional mowing travel path S6 is set for the one-directional mowing compatible area P6 consisting of the fallen area T6, and a travel path S6 independent of the fallen area T6 is set for each of the one-directional mowing unnecessary area N6 consisting of the normal areas before and after.

[0076] In the example shown in Fig. 25, mowing is performed in the order of the rear normal area, the front normal area, and the fallen area T6, but in other examples, mowing may be performed in the order of the rear normal area, the fallen area T6, and the front normal area according to the row direction. Also, in the example shown in Fig. 25, circular mowing is set for each normal area, but reciprocating mowing may be set.

[0077] In the first embodiment, when the driving path creation unit 62 creates and modifies the driving path S1, S2, S4, S5 or S6, the automatic driving control unit 63 controls the driving unit 2 and the cutting unit 3 according to the driving path S1, S2, S4, S5 or S6 to perform automatic driving and automatic cutting in the uncut stalk area of ​​the field H1, H2, H4, H5 or H6.

[0078] In the above-mentioned first embodiment, the example was described in which the falling information is set by the falling information setting unit 61 when the travel route S1, S2, S4, S5 or S6 is created in advance, and the travel route S1, S2, S4, S5 or S6 is corrected based on the falling information, but the timing of setting the falling information and the timing of creating or correcting the travel route S1, S2, S4, S5 or S6 based on the falling information in the present invention are not limited to this example. For example, the falling information setting unit 61 may set the falling information when a fallen area T1, T2, T4, T5 or T6 is detected during the execution of automatic traveling and automatic reaping. In this case, the travel route creation unit 62 may correct the travel route S1, S2, S4, S5 or S6 based on the falling information during the execution of automatic traveling and automatic reaping. The travel path creation unit 62 may correct the travel path S1, S2, S4, S5 or S6 while performing automatic operation before the combine 1 approaches the lying area T1, T2, T4, T5 or T6, or may temporarily suspend automatic operation to correct the travel path S1, S2, S4, S5 or S6.

[0079] Alternatively, the lodging information setting unit 61 may set the lodging information when the lodging area T1, T2, T4, T5 or T6 is detected before the travel path S1, S2, S4, S5 or S6 is created in advance by the travel path creation unit 62. In this case, the travel path creation unit 62 may create in advance the travel path S1, S2, S4, S5 or S6 so as to mow the lodging area T1, T2, T4, T5 or T6 in one direction, based on the field information and the lodging information.

[0080] In the first embodiment described above, an example was described in which the travel paths S1, S2, S4, S5 or S6 of the unidirectional mowing corresponding areas P1, P2, P4, P5 or P6 are corrected by performing unidirectional mowing from the start position to the end position of the unidirectional mowing corresponding area, then retreating from the end position to the start position and switching to unidirectional mowing of another adjacent unidirectional mowing corresponding area. However, in the present invention, the correction of the travel paths S1, S2, S4, S5 or S6 of the unidirectional mowing corresponding areas P1, P2, P4, P5 or P6 is not limited to this example. For example, when the unidirectional mowing compatible area P1, P2, P4, P5 or P6 and the unidirectional mowing unnecessary area N1, N2, N4, N5 or N6 are aligned in the row arrangement direction, the travel path creation unit 62 may modify the travel path S1, S2, S4, S5 or S6 so that each unidirectional mowing compatible area P1, P2, P4, P5 or P6 is set as the outward route for unidirectional mowing, while the return route corresponding to this outward route is set as the unidirectional mowing unnecessary area N1, N2, N4, N5 or N6. This allows mowing to be performed alternately in the unidirectional mowing compatible area P1, P2, P4, P5 or P6 and the unidirectional mowing unnecessary area N1, N2, N4, N5 or N6, thereby eliminating the idle distance for reverse travel.

[0081] Next, examples in which a travel route for circular mowing is created in advance by the travel route creation unit 62 and then the travel route is corrected based on fallen grass information will be described as second and third examples. Note that in the second and third examples as well, as shown in Figures 26 and 27, the work targets are fields H7 and H8 that are rectangular and grow crops such as rice and wheat, and the vertical direction of the paper in Figures 26 and 27 is the row direction of the culms of fields H7 and H8.

[0082] In the second and third embodiments, the combine harvester 1 first automatically or manually sets the field shape, the position information of the field edge, the row direction of the stalk, etc. as the field information of the fields H7 and H8 by the field information setting unit 60. In the second and third embodiments, before the travel path creation unit 62 creates the travel path in advance, the lodging information setting unit 61 automatically sets the lodging information when it detects a lodging area based on the field image of the machine camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57, or sets the lodging information manually in response to the input operation of the mobile terminal 53 when the operator visually detects the lodging area. In the second and third embodiments, as shown in Figs. 26 and 27, the lodging information setting unit 61 sets the lodging information of the lodging areas T7 and T8 that are lodged in opposite directions to each other. The lodging information setting unit 61 may set the lodging information automatically or manually while automatic circular mowing and automatic mowing are being performed.

[0083] Next, the travel path creation unit 62 creates travel paths S7 and S8 for automatic travel and automatic mowing in the fields H7 and H8 by circular mowing based on the field information, as shown in Figs. 28 and 29, and stores them in the storage unit 51. The travel path creation unit 62 creates spiral travel paths S7 and S8 for circular mowing, which start traveling along the edge of the field and repeat traveling toward the center of the fields H7 and H8, and repeat mowing along the outer periphery of the uncut stalk area. The travel paths S7 and S8 for circular mowing are formed by connecting multiple straight paths while changing the direction of travel. The travel path creation unit 62 may set the direction of rotation for circular mowing so that the driver's seat 29 side is located outside the fields H7 and H8 and the field is rotated. In the second and third embodiments, the driver's seat 29 is provided on the right side, so that examples of the travel paths S7 and S8 that rotate counterclockwise are shown.

[0084] Alternatively, the travel path creation unit 62 may determine the uncut stalk area while traveling and create the travel paths S7 and S8 along the periphery of the uncut stalk area, without creating the travel paths S7 and S8 for the entire field in advance. As the shape of the uncut stalk area changes as the automatic operation progresses, the travel path creation unit 62 re-determines the uncut stalk area at predetermined intervals such as the time or distance of the automatic operation, and recreates (updates) the travel paths S7 and S8 along the uncut stalk area.

[0085] When the driving paths S7 and S8 for circular mowing are created by the driving path creation unit 62, the automatic driving control unit 63 controls the driving unit 2 and the cutting unit 3 according to the driving paths S7 and S8 to perform automatic driving and automatic mowing by circular mowing in the uncut stalk areas of the fields H7 and H8.

[0086] In the second and third examples, fields with the same field shape are the work target, and fallen areas T7 and T8 with the same fallen area shape are detected. In the second example shown in FIG. 28, the traveling direction when the previously created travel path S7 approaches the fallen area T7 is the same as the direction in which the culms in the fallen area T7 fall. In the third example shown in FIG. 29, the traveling direction when the previously created travel path S8 approaches the fallen area T8 is the opposite to the direction in which the culms in the fallen area T8 fall. The travel path creation unit 62 corrects the travel paths S7 and S8 for the circular mowing travel based on the falling information set by the falling information setting unit 61.

[0087] First, the operation of correcting the travel path S7 for circular mowing travel in the second embodiment will be described. The travel path creation unit 62 compares the travel direction of the linear path currently traveled in the travel path S7 with the falling direction of the fallen area T7 on the travel direction side, and judges whether or not the travel path S7 should be corrected based on the comparison result. In the second embodiment in which the falling direction of the fallen area T7 is the same as the travel direction, the travel path creation unit 62 maintains the travel setting of the travel path S7 without correcting it until the travel direction is changed, as shown in FIG. 30, and thus makes it possible to perform additional mowing in the fallen area T7. Even if the travel setting of the fallen area T7 is not corrected, the travel path creation unit 62 corrects the work setting of the fallen area T7 to the work setting specific to the fallen stalk.

[0088] When the travel path S7 for circular mowing travel changes its direction of travel from the current straight path to another straight path, the travel path creation unit 62 compares the falling direction of the fallen area T7 with the changed traveling direction and determines whether or not to modify the travel path S7 based on the comparison result. In the case of the second embodiment in which the falling direction of the fallen area T7 differs from the changed traveling direction, the travel path creation unit 62 modifies the travel path S7 based on the field information of the uncut stalk area and the falling information of the fallen area T7.

[0089] At this time, similar to the correction of reciprocating mowing travel, the travel path creation unit 62 may set a one-way mowing compatible path and a one-way mowing compatible area for rows that pass through the fallen area T7, while setting a one-way mowing-free path and a one-way mowing-free area for rows that do not pass through the fallen area T7. As shown in Figure 30, the travel path creation unit 62 bypasses the fallen area T7 and transitions to the one-way mowing-free area, and the automatic driving control unit 63 controls the travel unit 2 and the mowing unit 3 according to the travel path S7 of the one-way mowing-free area, as shown in Figure 31, to perform automatic travel and automatic mowing in the one-way mowing-free area.

[0090] The travel path creation unit 62 corrects the travel path S7 so that after the one-way mowing unnecessary area is mowed, the travel path creation unit 62 moves to the one-way mowing compatible area. In the second embodiment, the travel path creation unit 62 corrects the travel path S7 for the one-way mowing compatible area so that, as shown in Fig. 32, automatic mowing is started from the one-way mowing compatible path on one end side of the arrangement direction of the rows, one-way mowing is performed from the start position to the end position of the one-way mowing compatible path, and then the travel path S7 moves back from the end position to the start position and moves to the one-way mowing of the other adjacent one-way mowing compatible path. In addition, the travel path creation unit 62 corrects the work setting of the fallen area T7 for the one-way mowing compatible path to a work setting specific to fallen stalks.

[0091] Next, an operation for correcting the travel route S8 for circular mowing travel in the third embodiment will be described. The travel route creation unit 62 compares the traveling direction of the linear route currently traveled on the travel route S8 with the falling direction of the fallen area T8 on the traveling direction side, and determines whether or not to correct the travel route S8 based on the comparison result. In the third embodiment, in which the falling direction of the fallen area T8 differs from the traveling direction, the travel route creation unit 62 corrects the travel route S8 before approaching the fallen area T8.

[0092] In this case, as shown in Fig. 33, since the current position of the combine harvester 1 is on the side of the fallen area T8 in the direction of the fall, in order to perform additional mowing of the fallen area T8, it is necessary to go around to the opposite side from the current position across the fallen area T8. Therefore, in the third embodiment, since it is more efficient to mow the current position side before mowing the fallen area T8 side, it is preferable that the travel path creation unit 62 sets a one-way mowing compatible path and a one-way mowing compatible area on the fallen area T8 side in the row direction within the uncut stalk area, and sets a one-way mowing-unnecessary path and a one-way mowing-unnecessary area on the current position side.

[0093] The driving path creation unit 62 moves to the one-way mowing-free area on the current location side and modifies the driving path S8 to perform circular mowing as shown in Figure 33, and the automatic driving control unit 63 controls the driving unit 2 and the cutting unit 3 according to the driving path S8 of the one-way mowing-free area as shown in Figure 34, to perform automatic driving and automatic mowing in the one-way mowing-free area.

[0094] The travel path creation unit 62 corrects the travel path S8 so that after mowing of the one-directional mowing-unnecessary area is completed, the travel path creation unit 62 moves to the one-directional mowing-unnecessary area. In the third embodiment, the travel path creation unit 62 corrects the travel path S8 for the one-directional mowing compatible area so that automatic mowing begins from the one-directional mowing compatible path on one end side of the arrangement direction of the rows, as shown in Fig. 35, one-directional mowing is performed from the start position to the end position of the one-directional mowing compatible path, and then the travel path S8 moves back from the end position to the start position and moves to the one-directional mowing of the other adjacent one-directional mowing compatible path. The travel path creation unit 62 corrects the work setting of the fallen area for the one-directional mowing compatible path to a work setting specific to fallen stalks.

[0095] In both the second and third embodiments, when the driving paths S7 and S8 are modified by the driving path creation unit 62, the automatic driving control unit 63 controls the driving unit 2 and the cutting unit 3 according to the modified driving paths S7 and S8, and performs automatic driving and automatic cutting in the uncut stalk areas of the fields H7 and H8.

[0096] As described above, according to this embodiment, the combine harvester 1 includes the control device 50, which functions as a travel path creation unit 62 that creates a travel path corresponding to the field, and an automatic driving control unit 63 that controls automatic traveling and automatic reaping according to the travel path. The control device 50 also functions as a lodging information setting unit 61 that automatically or manually sets lodging information related to a lodged area in the field where stalks have fallen. The travel path creation unit 62 then creates a travel path that includes reaping of the stalks in the lodged area based on the lodging information.

[0097] As a result, the combine harvester 1 creates a travel path suitable for harvesting fallen culms, taking into account the state of lodging of the crop in the field, so that it is possible to create a travel path that allows harvesting work including fallen culms regardless of the state of lodging of the crop. By using the travel path created in this way, the combine harvester 1 can appropriately perform automatic operation even in fallen areas. Therefore, the operator does not need to perform harvesting work in fallen areas by manually operating the combine harvester, and the effort of switching between automatic and manual operation and the burden of manual operation can be reduced.

[0098] The lodging information setting unit 61 can set the lodging information not only when the travel route is initially created, but also while automatic operation according to the travel route is being performed. This allows the lodging information to be set after approaching the lodging area and grasping the lodging state more accurately, so that more accurate lodging information can be set. Furthermore, the lodging information setting unit 61 can automatically set the lodging information when it detects a lodging area based on the farm field image of the machine camera 32, the fixed camera 43, the portable camera 54, or the aerial camera 57, so that the combine harvester 1 can be automatically operated without human intervention.

[0099] In addition, in the combine harvester 1 of this embodiment, the lodging information setting unit 61 sets the lodging direction of the stalks as the lodging information, and the travel path creation unit 62 creates a travel path so as to cut the stalks in the lodging area in a predetermined recommended cutting direction relative to the lodging direction.

[0100] This allows the combine harvester 1 to correct the travel path only in fallen areas where the reaping direction is not suitable, making it possible to create and correct the travel path using a relatively simple algorithm. The combine harvester 1 can create a travel path to harvest fallen stalks in an appropriate reaping direction, and can automatically perform reaping work appropriate to the fallen areas.

[0101] Furthermore, in the combine harvester 1 of this embodiment, when the mowing direction corresponding to the travel path within the fallen area differs from the recommended mowing direction based on the travel path and the fallen area information, the travel path creation unit 62 determines a one-way mowing compatible area that includes the fallen area, and corrects the travel path so that the mowing direction within the one-way mowing compatible area becomes the recommended mowing direction.

[0102] Because the direction of travel is restricted in fallen areas, any corrections to the travel path depend on the position of the fallen areas. However, the combine harvester 1 makes the same corrections to the travel path not only in fallen areas but also in one-way cutting compatible areas that include fallen areas. This makes it possible to correct the travel path with less dependency on the position of the fallen areas, and to create a travel path with good work efficiency.

[0103] Furthermore, in the combine harvester 1 of this embodiment, the travel path creation unit 62 determines a falling-affected area in which travel along the travel path is affected due to a correction to the travel path in the unidirectional mowing compatible area, based on the travel path and the falling information. The travel path creation unit 62 divides the falling-affected area into a unidirectional mowing compatible area and a unidirectional mowing unnecessary area other than the unidirectional mowing compatible area. Then, based on the position of the fallen area in the unidirectional mowing compatible area, the travel path creation unit 62 further divides the area within the unidirectional mowing compatible area that does not include the fallen area into a unidirectional mowing unnecessary area.

[0104] In the one-way mowing compatible area where the traveling direction is restricted, a free running distance may be required, but the combine harvester 1 can make the one-way mowing compatible area relatively small, so the free running distance can be relatively short. Also, in the one-way mowing unnecessary area where the traveling direction is not restricted, a travel route with good work efficiency can be set, so a travel route with good work efficiency overall can be created.

[0105] Furthermore, in the combine harvester 1, the travel path creation unit 62 sets travel settings and work settings specific to fallen stalks for the travel path in the fallen area, for example, setting the travel speed to a low speed and the reaping speed to a high speed. As a result, when the combine harvester 1 is automatically driven along the travel path created by the travel path creation unit 62, it automatically drives and reaps in a way suitable for fallen stalks in the fallen area, improving work efficiency in automatic operation without relying on the skilled operation of an operator. Furthermore, even when the combine harvester 1 is automatically driven in an unmanned operation, it can perform appropriate work in the fallen area.

[0106] Furthermore, in the combine harvester 1, the travel path creation unit 62 sets the travel speed and reaping speed for the travel path in the fallen area according to the fallen angle of the culms. This allows reaping to be performed more appropriately according to the fallen state of the culms, thereby further improving work efficiency.

[0107] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding 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 combine harvester. Also, in the above embodiment, an example of setting the recommended cutting direction to additional cutting has been described, but the present invention is not limited to this example, and the recommended cutting direction may be set to other cutting directions such as left-leaning cutting, right-leaning cutting, or facing cutting depending on the type of crop and the state of lodging of the culms.

[0108] The present invention can be modified as appropriate within the scope of the claims and the gist or idea of ​​the invention that can be read from the entire specification, and the present invention is not limited to the above-mentioned modifications. Autonomous driving system and autonomous driving method are also included in the technical concept of the present invention. [Explanation of symbols]

[0109] 1. Combine Harvester 2 Running part 3 Reaping section 32 Aircraft Camera 34 Mobile Station 39 Base station 43 Fixed Camera 50 Control device 52 Communications Department 53 Mobile Devices 54 Mobile Phone Camera 57 Aerial Camera 60 Field information setting section 61 Falling information setting section 62 Driving route creation section 63 Automatic driving control unit

Claims

1. A lodging information setting unit that automatically or manually sets lodging information including a lodging direction of the culms in a lodging area where the culms are lodged in the field; A travel path creation unit that creates a travel path including a one-way mowing corresponding path that mows the stalks in the fallen area in a predetermined recommended mowing direction with respect to the falling direction; An automatic driving control unit that controls automatic driving and automatic reaping of the combine harvester according to the travel route; Equipped with The automatic operation control unit causes the combine to perform unidirectional mowing from the start position to the end position of the unidirectional mowing path, and then causes the combine to retreat from the end position side to the start position side. Autonomous driving system.

2. The automatic driving control unit causes the combine harvester to automatically travel to the start position of another one-way mowing route after retreating from the end position of the one-way mowing route to the start position of the other one-way mowing route. The automated driving system according to claim 1 .

3. Setting the travel speed or the reaping speed of the combine harvester based on the fallen crop information. The automated driving system according to claim 1 or 2.

4. The lodging information includes a lodging angle of the culm, Setting the travel speed or reaping speed of the combine based on the falling angle of the stalk. The automated driving system according to claim 3.

5. Automatically or manually setting lodging information including a lodging direction of the culms in a lodging area in a farm field where the culms are lodged; Creating a travel route including a one-way mowing route for mowing the stalks in the fallen area in a predetermined recommended mowing direction relative to the falling direction; Controlling automatic travel and automatic reaping of the combine harvester according to the travel route; having After the combine harvester performs unidirectional mowing from the start position to the end position of the unidirectional mowing path, the combine harvester is moved backward from the end position side to the start position side. Autonomous driving method.

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