Travel control system and harvester

Abstract

To provide a travelling control system and a harvesting machine that can facilitate automated travelling after performing discharge work.SOLUTION: A travelling control unit is configured so as to control travelling of a harvesting machine 1 so that the harvesting machine 1 performs second travelling after performing first travelling when the harvesting machine 1 moves to a discharge point PP for performing discharge work. The first travelling is the travelling for harvesting in a region M corresponding to an end part on a side close to the discharge point PP of both end parts of a resumption route LI2, which is a travelling route LI where the harvesting machine 1 is scheduled to travel first after performing the discharge work, and the second travelling is the travelling for moving to the discharge point PP.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a travel control system for controlling the travel of a harvester, and to a harvester. [Background technology]

[0002] A known example of such a driving control system is described in Patent Document 1. This driving control system includes an area acquisition unit (referred to as an "area calculation unit" in Patent Document 1), a generation unit (referred to as a "route calculation unit" in Patent Document 1), a route selection unit, and a driving control unit.

[0003] The area acquisition unit acquires information indicating the harvest target area in the field. The generation unit generates multiple travel routes ("reaper travel routes" in Patent Document 1) for the harvester ("combine" in Patent Document 1) to travel to harvest the harvest target area. The route selection unit selects a travel route from the multiple travel routes. The travel control unit controls the travel of the harvester based on the travel route selected by the route selection unit. This allows the harvester to perform harvesting work while traveling automatically in the field. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-2481 Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 does not describe the traveling of the harvester after it stops harvesting and discharges the harvested products during harvesting work in a farm field.

[0006] In a travel control system such as that described in Patent Document 1, in order for a harvester to resume harvesting travel by automatic travel after performing harvest discharge work, the harvester must move to the end of the restart route and align its body orientation (body attitude direction) with the direction of the restart route. Note that the restart route is the travel route that the harvester is scheduled to travel first after the discharge work.

[0007] In this case, if the space available for turning the harvester is relatively narrow, it tends to be difficult for the harvester to move to the end of the restart path by automatic driving and to align the vehicle's orientation with the direction of the restart path. In other words, it tends to be difficult for the harvester to automatically drive to the point where harvesting travel will resume after the discharge work and to align the vehicle's orientation with the direction in which harvesting travel can be resumed.

[0008] An object of the present invention is to provide a travel control system and a harvester that facilitate automatic travel after discharge operations. [Means for solving the problem]

[0009] A feature of the travel control system of the present invention is that it is a travel control system that controls the travel of a harvester, and comprises: an area acquisition unit that acquires information indicating a harvest area in a field; a generation unit that generates multiple travel routes for the harvester to travel to harvest the harvest area; a route selection unit that selects the travel route from the multiple travel routes; a travel control unit that controls the travel of the harvester based on the travel route selected by the route selection unit; and a determination unit that determines a discharge point, which is a point where the harvester will perform a discharge operation to discharge the harvested product; and the travel control unit is configured to control the travel of the harvester so that when the harvester moves to the discharge point to perform the discharge operation, the harvester performs a first run and then a second run, and the first run is a harvesting run in an area corresponding to the end closest to the discharge point of both ends of a restart route, which is the travel route along which the harvester is scheduled to travel first after the discharge operation, and the second run is a run to move to the discharge point.

[0010] The harvester of the present invention is characterized by comprising an area acquisition unit that acquires information indicating a harvest area in a field; a generation unit that generates multiple driving routes for the machine to drive to harvest the harvest area; a route selection unit that selects the driving route from the multiple driving routes; a driving control unit that controls the driving of the machine based on the driving route selected by the route selection unit; and a determination unit that determines a discharge point, which is a point at which the machine will perform a discharge operation to discharge the harvested product; the driving control unit is configured to control the driving of the machine so that, when the machine moves to the discharge point to perform the discharge operation, the machine performs a first run and then a second run, the first run being a harvesting run in an area corresponding to the end closest to the discharge point of both ends of the restart route, which is the driving route along which the machine is scheduled to first drive after the discharge operation, and the second run being a run to move to the discharge point.

[0011] According to this configuration, when the harvester moves to the discharge point to perform the discharge operation, the first travel is performed before the harvester moves to the discharge point. Then, the first travel is performed to harvest in an area corresponding to the end of the restarted path that is closer to the discharge point. This makes it easy to ensure a relatively large space around the end of the restarted path that is closer to the discharge point.

[0012] Therefore, if the harvester is controlled to resume harvesting travel from the end of the restart route after the discharge operation, the above-mentioned relatively large space can be used for turning. This makes it easy for the harvester to move to the end of the restart route by automatic travel and to align the vehicle's orientation with the direction of the restart route. In other words, it becomes easy to automatically travel to the point where harvesting travel will resume after the discharge operation and to align the vehicle's orientation with the direction in which harvesting travel can be resumed.

[0013] That is, according to this configuration, it is possible to realize a travel control system and a harvester that facilitate automatic travel after the discharge operation.

[0014] Furthermore, in the present invention, it is preferable that a side selection unit is provided that selects one side from a plurality of sides that form the periphery of the field, and the determination unit determines the discharge point to be at a position adjacent to the selected side, which is the side selected by the side selection unit.

[0015] This configuration allows the determination unit to automatically determine the discharge point. Furthermore, this configuration determines the discharge point to be a position adjacent to the selected edge. As a result, for example, when harvested products are to be transferred from a harvester to a transport vehicle during a discharge operation, the discharge operation can be easily carried out by selecting, as the selected edge, the edge that allows the easiest transfer of the harvested products (e.g., the edge that is easily accessible by the transport vehicle) from among the multiple edges that make up the perimeter of the field.

[0016] Furthermore, in the present invention, it is preferable that the edge selection unit selects the edge in accordance with a manual operation input.

[0017] According to this configuration, the user can determine the selected side in consideration of the smoothness of the discharge operation, etc. In other words, according to this configuration, the user's intention is more likely to be reflected in the determination of the discharge point.

[0018] Furthermore, in the present invention, it is preferable that the travel control unit controls the travel of the harvester so that, after the second travel, the harvester stops at the discharge point in an attitude along the restart path and with the rear of the machine body facing the selected edge.

[0019] According to this configuration, for example, if the discharge point is located on an extension of the restart route, the end of the restart route (the point where harvesting travel resumes) will be located in front of the harvester when the harvester stops at the discharge point. This makes it easier for the harvester to smoothly resume harvesting travel after the discharge operation.

[0020] Furthermore, in the present invention, the harvester is provided with an equipment control unit that controls the running device of the harvester, and an input unit that accepts manual operation input, and it is preferable that the equipment control unit controls the running device so that the harvester moves in the fore-and-aft direction of the body in accordance with the operation input to the input unit after the harvester has stopped at the discharge point.

[0021] With this configuration, for example, when the harvester stops at the discharge point and a transport vehicle is parked behind the harvester, the positional relationship (distance) between the harvester and the transport vehicle can be finely adjusted by operating the input unit, which facilitates smooth transfer of harvested crops from the harvester to the transport vehicle during discharge work.

[0022] Furthermore, in the present invention, it is preferable that a point designation unit capable of designating the discharge point by manual operation input is provided, and the determination unit determines the discharge point in accordance with the designation by the point designation unit.

[0023] According to this configuration, the user can specify the discharge point in consideration of the smoothness of the discharge operation, etc. In other words, according to this configuration, the user's intentions are more likely to be reflected in the determination of the discharge point.

[0024] Furthermore, in the present invention, it is preferable that the travel control unit controls the travel of the harvester so that, after the second travel, the harvester stops at the discharge point with the left side or right side of the body facing toward the side adjacent to the discharge point among the multiple sides that make up the perimeter of the field.

[0025] With this configuration, the travel of the harvester to stop at the discharge point tends to be simpler than when the travel of the harvester is controlled so that the rear of the machine is facing the side adjacent to the discharge point (machine orientation). This tends to make it easier to control the travel of the harvester until it stops at the discharge point.

[0026] Furthermore, in the present invention, it is preferable that the device further comprises an edge selection unit that selects one edge from among a plurality of edges that form the periphery of the field, and a point designation unit that can designate the discharge point by manual input operation, wherein the control mode of the determination unit is switchable between a first mode and a second mode, and when the control mode of the determination unit is the first mode, the determination unit determines the discharge point at a position adjacent to the selected edge, which is the edge selected by the edge selection unit, and when the control mode of the determination unit is the second mode, the determination unit determines the discharge point in accordance with the designation by the point designation unit.

[0027] This configuration allows switching between a mode (first mode) in which the ejection point is automatically determined at a position adjacent to the selected side, and a mode (second mode) in which the user specifies the ejection point, thereby realizing a configuration in which the user can select the mode that is easier for them to use from these two modes. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. [Figure 2] FIG. [Figure 3] FIG. 10 is a diagram showing harvesting travel in a harvest target area. [Figure 4] FIG. 2 is a block diagram showing the configuration of a driving control system. [Figure 5] FIG. 10 is a diagram showing a mode selection screen. [Figure 6] FIG. 10 is a diagram showing a side selection screen. [Figure 7] 10 is a flowchart of a first control flow. [Figure 8] FIG. 10 is a diagram showing harvesting travel along a first travel path when the determination unit is in edge selection mode. [Figure 9] FIG. 10 is a diagram illustrating a first run when the determination unit is in a side selection mode. [Figure 10] FIG. 10 is a diagram illustrating a second run when the determination unit is in the edge selection mode. [Figure 11] FIG. 10 is a diagram showing a location designation screen. [Figure 12] 10 is a flowchart of a second control flow. [Figure 13] FIG. 10 is a diagram showing harvesting travel along a first travel route when the determination unit is in a location designation mode. [Figure 14] FIG. 10 is a diagram showing a first run when the determination unit is in a location designation mode. [Figure 15] FIG. 10 is a diagram showing a second run when the determination unit is in a location designation mode. DETAILED DESCRIPTION OF THE INVENTION

[0029] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawings will be referred to as "front" and the direction of arrow B as "rear." Furthermore, the direction of arrow U in the drawings will be referred to as "up" and the direction of arrow D as "down." Furthermore, the direction of arrow N in the drawings will be referred to as "north," the direction of arrow S as "south," the direction of arrow E as "east," and the direction of arrow W as "west."

[0030] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "harvester" of the present invention) is equipped with a harvesting section H, 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.

[0031] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 11.

[0032] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. The driving section 12 has a driver's seat 12a. A user (operator) can sit in the driving section 12.

[0033] The grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, the satellite positioning module 80 is attached to the upper surface of the driving section 12.

[0034] The harvesting unit H is provided at the front of the combine 1. The transport unit 16 is provided at the rear of the harvesting unit H. The harvesting unit H also includes left and right dividing tools 10, a cutting blade 15, and a reel 17.

[0035] The left and right weeding tools 10 are provided at the left and right ends of the front end of the harvesting section H. The left and right weeding tools 10 divide the planted culms in the field 5 (see Figure 2) into those to be harvested and those not to be harvested. The planted culms to the right of the left weeding tool 10 and to the left of the right weeding tool 10 are divided as those to be harvested. The planted culms to the left of the left weeding tool 10 and to the right of the right weeding tool 10 are divided as those not to be harvested.

[0036] The cutting blade 15 cuts the planted culms that have been divided as harvest targets by the left and right weed dividing tools 10. The reel 17 rakes in the planted culms to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The cut culms cut by the cutting blade 15 are sent to the conveying section 16.

[0037] With this configuration, the harvesting section H harvests grain in the field 5. The combine 1 is capable of harvesting travel, traveling by the traveling device 11 while harvesting grain in the field 5 by the harvesting section H.

[0038] The reaped stalks harvested by the harvesting section H 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.

[0039] The harvested stalks are threshed in the threshing device 13. The grains obtained by the threshing process (corresponding to the "harvested product" according to the present invention) are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by a grain discharge device 18 as needed.

[0040] As shown in FIG. 1 , a display terminal 4 is disposed in the driving unit 12. The display terminal 4 is configured to be able to display various information. In this embodiment, the display terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this. The display terminal 4 may be configured to be detachable from the driving unit 12, or the display terminal 4 may be located outside the combine harvester 1.

[0041] Here, when performing harvesting work in the field 5, the combine harvester 1 is configured to perform periphery travel as shown in Fig. 2 and then perform harvesting travel by automatic travel. Note that periphery travel refers to harvesting travel performed manually in the outer peripheral area SA (see Fig. 3) of the field 5. However, the present invention is not limited to this, and harvesting travel performed in the outer peripheral area SA may also be performed by automatic travel.

[0042] In Figure 2, the route along which the combine harvester 1 travels during the outer perimeter travel is indicated by an arrow. When the harvesting travel along this route is completed, the field 5 will be in the state shown in Figure 3. The outer perimeter travel in this embodiment is a harvesting travel that travels around the outermost perimeter of the field 5 once, as shown in Figure 2. However, the present invention is not limited to this, and two or more perimeter travels may also be performed.

[0043] 2 and 3, the field 5 is located inside a field edge 6. The field edge 6 is provided so as to surround the field 5. The field edge 6 includes, for example, ridges, water supply and drainage pumps, etc.

[0044] In this embodiment, the field 5 is rectangular. However, the present invention is not limited to this. The field 5 may have any shape.

[0045] The traveling of the combine harvester 1 is controlled by a traveling control system A (see FIG. 4). That is, the traveling control system A controls the traveling of the combine harvester 1. The traveling control system A will be described in detail below.

[0046] [Configuration related to autonomous driving] 4, the driving control system A includes a control unit 20. The control unit 20 includes a position calculation unit 21, an area acquisition unit 22, a generation unit 23, a route selection unit 24, an orientation calculation unit 25, and a driving control unit 26. The control unit 20 is mounted on the combine harvester 1. The display terminal 4 described above is also included in the driving control system A.

[0047] The satellite positioning module 80 receives GPS signals from the artificial satellites GS (see FIG. 1) used in the GPS (Global Positioning System). Then, as shown in FIG. 4, the satellite positioning module 80 sends positioning data indicating the position of the combine harvester 1 to the position calculation unit 21 based on the received GPS signals.

[0048] However, the present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0049] The 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 calculated position coordinates of the combine harvester 1 over time are sent to the area acquisition unit 22, the route selection unit 24, and the travel control unit 26.

[0050] The area acquisition unit 22 calculates the outer periphery area SA and the harvest target area CA based on the time-varying position coordinates of the combine harvester 1 received from the position calculation unit 21, as shown in FIG.

[0051] More specifically, the area acquisition unit 22 calculates the travel path of the combine harvester 1 during the above-mentioned periphery travel in the field 5 based on the time-dependent position coordinates of the combine harvester 1 received from the position calculation unit 21. Then, the area acquisition unit 22 calculates the area in which the combine harvester 1 has traveled on the periphery as the periphery area SA based on the calculated travel path of the combine harvester 1. Furthermore, the area acquisition unit 22 calculates the area surrounded by the calculated periphery area SA as the harvest target area CA.

[0052] As a result, the area acquisition unit 22 generates a map (information) that indicates the outer perimeter area SA and the harvest target area CA in the farm field 5. As a result, the area acquisition unit 22 acquires the map.

[0053] In this way, the travel control system A includes the area acquisition unit 22 that acquires information indicating the harvest target area CA in the farm field 5.

[0054] As shown in FIG. 4, the map acquired by the area acquisition unit 22 is sent to the generation unit 23.

[0055] Based on the map received from the area acquisition unit 22, the generation unit 23 generates a plurality of travel paths LI for the combine 1 to travel to harvest in the harvest target area CA, as shown in Fig. 3. Although not particularly limited, in this embodiment, the travel paths LI are a plurality of mesh lines extending vertically and horizontally, as shown in Fig. 3. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

[0056] In this way, the travel control system A includes a generation unit 23 that generates multiple travel routes LI for the combine harvester 1 to travel through the harvest target area CA. As shown in Figure 4, the multiple travel routes LI generated by the generation unit 23 are sent to the route selection unit 24.

[0057] The route selection unit 24 selects a travel route LI along which the combine harvester 1 should travel from among the plurality of travel routes LI, based on the position coordinates of the combine harvester 1 received from the position calculation unit 21.

[0058] As described above, the driving control system A includes a route selection unit 24 that selects a driving route LI from among a plurality of driving routes LI. As shown in FIG. 4, information indicating the driving route LI selected by the route selection unit 24 is sent to the driving control unit 26.

[0059] 4, the travel control system A includes an inertial measurement unit 81. The control unit 20 includes an orientation calculation unit 25. The inertial measurement unit 81 is mounted on the combine 1.

[0060] The inertial measurement unit 81 detects the angular velocity of the yaw angle of the combine harvester 1 and the acceleration in three mutually orthogonal axial directions over time. The detection results by the inertial measurement unit 81 are sent to the orientation calculation unit 25.

[0061] The orientation calculation unit 25 receives the position coordinates of the combine harvester 1 from the position calculation unit 21. Then, the orientation calculation unit 25 calculates the body orientation of the combine harvester 1 based on the detection results from the inertial measurement unit 81 and the position coordinates of the combine harvester 1.

[0062] More specifically, while the combine harvester 1 is traveling, the orientation calculation unit 25 first calculates an initial vehicle orientation based on the current position coordinates of the combine harvester 1 and the position coordinates of the combine harvester 1 at the point where it was traveling immediately before. Next, when the combine harvester 1 has traveled for a certain period of time after the initial vehicle orientation is calculated, the orientation calculation unit 25 calculates the amount of change in the vehicle orientation by integrating the angular velocity detected by the inertial measurement unit 81 during that certain period of travel.

[0063] Then, the orientation calculation unit 25 updates the calculation result of the aircraft orientation by adding the calculated amount of change in the aircraft orientation to the initial aircraft orientation. After that, the amount of change in the aircraft orientation is similarly calculated at regular time intervals, and the calculation result of the aircraft orientation is successively updated.

[0064] With the above configuration, the orientation calculation unit 25 calculates the body orientation of the combine harvester 1. The calculation result by the orientation calculation unit 25 is sent to the travel control unit .

[0065] The travel control unit 26 is configured to control the automatic travel of the combine harvester 1 by controlling the travel device 11 shown in Fig. 1. The travel control unit 26 controls the automatic travel of the combine harvester 1 based on the position coordinates and machine orientation of the combine harvester 1 and information indicating the travel route LI selected by the route selection unit 24. More specifically, the travel control unit 26 controls the travel of the combine harvester 1 so that harvesting travel is performed by automatic travel along the travel route LI.

[0066] In this way, the travel control system A includes a travel control unit 26 that controls the travel of the combine 1 based on the travel route LI selected by the route selection unit 24.

[0067] In this automatic travel, the route selection unit 24 may select, for example, a travel route LI immediately following the travel route LI on which the combine harvester 1 is currently traveling. That is, the route selection unit 24 may be configured to select one travel route LI on which the combine harvester 1 should travel next after the travel route LI on which the combine harvester 1 is currently traveling, every time travel along a new travel route LI begins.

[0068] However, the present invention is not limited to this. The route selection unit 24 may select a plurality of (for example, two or three) travel routes LI along which the combine harvester 1 should travel following the travel route LI on which the combine harvester 1 is currently traveling, and may also determine the travel order of the plurality of travel routes LI.

[0069] The route selection unit 24 selects a travel route LI from among the plurality of travel routes LI that have not yet been traveled. The route selection unit 24 preferably selects a travel route LI based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 so that the travel of the combine harvester 1 is efficient.

[0070] The control unit 20 and each element included in the control unit 20, such as the position calculation unit 21, may be a physical device such as a microcomputer, or may be a functional unit in software.

[0071] In this embodiment, α-turn driving and U-turn driving are performed during automated driving for harvesting in the harvest target area CA. α-turn driving is driving that makes an α-turn at a corner of the unharvested area, and is driving that circles the outermost periphery of the unharvested area. U-turn driving is driving that repeats forward harvesting driving along a predetermined direction (e.g., east-west) in the unharvested area and changing direction by making a U-turn in the harvested area.

[0072] In this embodiment, an α-turn is performed until a space for changing direction by a U-turn is secured in the field 5 (in other words, until the harvested area expands to a certain extent). After a space for changing direction by a U-turn is secured in the field 5, a U-turn is performed.

[0073] The above-described harvest target area CA may be reduced as the harvesting work progresses in the farm field 5. In other words, the harvest target area CA may always coincide with the unharvested area.

[0074] Furthermore, the above-described harvest target area CA does not need to change after being calculated by the area acquisition unit 22 as described above. In other words, the harvest target area CA does not need to shrink as the harvesting work progresses in the field 5. In this case, as the harvesting work progresses in the field 5, the proportion of unharvested area in the harvest target area CA will decrease.

[0075] As shown in Fig. 4, the area acquisition unit 22 calculates the harvested area and the unharvested area in the field 5 over time based on the position coordinates of the combine harvester 1 over time received from the position calculation unit 21. Information indicating the calculated harvested area and the unharvested area is sent from the area acquisition unit 22 to the travel control unit 26. The travel control unit 26 controls the direction change of the combine harvester 1 based on the information. As a result, the combine harvester 1 changes direction using an α-turn or a U-turn.

[0076] As shown in Fig. 4, the control unit 20 also has a determination unit 27. The determination unit 27 determines a discharge point PP (see Fig. 8). The discharge point PP is a point where the combine harvester 1 performs a discharge operation to discharge grains.

[0077] As described above, the travel control system A includes a determination unit 27 that determines the discharge point PP, which is the point where the combine harvester 1 performs the discharge operation of discharging grains. The determination of the discharge point PP and the discharge operation will be described in detail below.

[0078] [Mode selection] 5, the display terminal 4 has a touch panel 44 (corresponding to the "point designation unit" according to the present invention). The touch panel 44 is capable of displaying various types of information and is configured to accept manual operation input by touch operation.

[0079] The display terminal 4 can display a mode selection screen shown in Fig. 5 on the touch panel 44. A first mode button 61 and a second mode button 62 are displayed on the mode selection screen. The user can select the control mode of the determination unit 27 by touching the first mode button 61 or the second mode button 62.

[0080] When the first mode button 61 is touched, the control mode of the determination unit 27 becomes a side selection mode (corresponding to the "first mode" of the present invention). When the second mode button 62 is touched, the control mode of the determination unit 27 becomes a point designation mode (corresponding to the "second mode" of the present invention).

[0081] When the first mode button 61 or the second mode button 62 is touched, the display on the touch panel 44 transitions from the mode selection screen to another screen. However, if the user subsequently performs a predetermined operation, the mode selection screen can be displayed again on the touch panel 44. This allows the control mode of the determination unit 27 to be switched between the side selection mode and the point designation mode.

[0082] The mode selection screen shown in FIG. 5 is preferably displayed when the above-mentioned outer perimeter running is completed.

[0083] [Edge selection mode] As described above, when the first mode button 61 shown in Fig. 5 is touched, the control mode of the determination unit 27 changes to the edge selection mode. At the same time, the display on the touch panel 44 transitions to the edge selection screen shown in Fig. 6. The edge selection screen displays an image showing the overall image (shape) of the field 5. This image also shows the outer perimeter area SA and the harvest target area CA. As shown in Fig. 4, the display terminal 4 receives the above-mentioned map from the area acquisition unit 22 and displays this image based on the map.

[0084] As shown in Fig. 6, on the side selection screen, the user can select one side from among multiple sides (four sides in the example shown in Fig. 6) that make up the perimeter of the field 5 and touch the selected side. In this example, the user is to touch the western side of the field 5, which has northern, eastern, southern, and western sides.

[0085] As shown in Fig. 4, the control unit 20 has an edge selection unit 28. When an edge is touched on the edge selection screen, a predetermined signal is sent from the display terminal 4 to the edge selection unit 28, as shown in Fig. 4. The signal indicates the edge that has been touched. The edge selection unit 28 selects one edge from among the multiple edges that form the perimeter of the field 5 in accordance with the signal.

[0086] That is, the side selection unit 28 selects the side that the user has touched. In the example shown in Fig. 6, the side selection unit 28 selects the west side.

[0087] In this way, the travel control system A includes an edge selection unit 28 that selects one edge from among multiple edges that form the periphery of the field 5. Furthermore, the edge selection unit 28 selects an edge in accordance with a human operation input.

[0088] As shown in FIG. 4, information indicating the edge selected by the edge selection unit 28 is sent from the edge selection unit 28 to the determination unit 27.

[0089] When the user touches any one of the edges on the edge selection screen shown in Figure 6 and then performs a predetermined operation (for example, operating the automatic driving start button), the combine 1 starts automatic driving to harvest the harvest target area CA under the control of the driving control unit 26, as shown in Figure 3.

[0090] In the automatic travel for harvesting the harvest target area CA, when the combine harvester 1 is performing the above-mentioned α-turn travel and the control mode of the determination unit 27 is the edge selection mode, the control unit 20 is configured to control the travel of the combine harvester 1 in accordance with the first control flow shown in Fig. 7. This first control flow is executed, for example, every time travel along a new travel route LI is started (i.e., every time the travel route LI that is the target of the automatic travel is switched).

[0091] When the first control flow starts, the process of step S01 is first executed. In step S01, the route selection unit 24 shown in Fig. 4 determines whether or not there is space in the field 5 for changing direction by a U-turn.

[0092] More specifically, information indicating the harvested area and the unharvested area calculated by the area acquisition unit 22 is sent from the area acquisition unit 22 to the route selection unit 24. The route selection unit 24 makes the determination in step S01 based on the information.

[0093] If there is space in the field 5 for changing direction by a U-turn ("Yes" in step S01 of FIG. 7), the process proceeds to step S02. If there is no space in the field 5 for changing direction by a U-turn ("No" in step S01 of FIG. 7), the process proceeds to step S03.

[0094] In step S02, the automatic traveling of the combine harvester 1 is shifted from α-turn traveling to U-turn traveling under the control of the control unit 20. After that, the first control flow ends. After the automatic traveling of the combine harvester 1 is shifted to U-turn traveling, the first control flow is not executed.

[0095] In step S03, the discharge determination unit 29 (see FIG. 4) included in the control unit 20 determines whether or not the discharge conditions are satisfied. The discharge conditions are conditions under which the above-mentioned discharge work is performed. Although not particularly limited, in this embodiment, the discharge condition when the control mode of the determination unit 27 is the edge selection mode is that "the combine harvester 1 is traveling toward the selected edge 51, and it is estimated that the amount of grains that will be stored in the grain tank 14 when the combine harvester 1 completes one harvesting trip around the outermost periphery of the currently unharvested area will exceed a predetermined amount." The selected edge 51 is the edge selected by the edge selection unit 28 described above.

[0096] In this embodiment, the discharge determination unit 29 is configured to detect the amount of grains stored in the grain tank 14. The discharge determination unit 29 makes the determination in step S03 based on the detection result of the amount of grains.

[0097] If the discharge condition is not satisfied ("No" in step S03 of FIG. 7), the process proceeds to step S04. If the discharge condition is satisfied ("Yes" in step S03 of FIG. 7), the process proceeds to step S05.

[0098] In step S04, the route selection unit 24 selects a travel route LI along which the combine harvester 1 should next travel. At this time, the route selection unit 24 selects the travel route LI so that the combine harvester 1 performs an α-turn. After that, the first control flow ends for the time being.

[0099] The processing from step S05 to step S13 will be described below using the example shown in Figures 8 to 10. In the example shown in Figures 8 to 10, it is assumed that the control mode of the determination unit 27 is the edge selection mode, and the western edge of the field 5 is the selected edge 51.

[0100] Fig. 8 shows a first travel route LI1 and a second travel route LI2. Both the first travel route LI1 and the second travel route LI2 are travel routes LI that extend in the east-west direction. Note that Fig. 8 does not show travel routes LI other than the first travel route LI1 and the second travel route LI2. Also, Figs. 9 and 10 do not show travel routes LI other than the second travel route LI2.

[0101] In FIG. 8, the combine harvester 1 is automatically traveling westward along the first travel route LI1 located at the northern end of the unharvested area. At this time, it is assumed that there is no space in the field 5 for a U-turn ("No" in step S01 of FIG. 7). It is also assumed that the discharge condition is satisfied ("Yes" in step S03 of FIG. 7). Therefore, in the example shown in FIG. 8, the process of step S05 of FIG. 7 is executed.

[0102] In step S05, the discharge determination unit 29 (see FIG. 4) sends a signal to the path selection unit 24 indicating that the discharge conditions have been met. In response to this signal, the path selection unit 24 selects a restart path. The restart path is a travel path LI along which the combine harvester 1 is scheduled to travel first after the discharge operation. In this embodiment, when the control mode of the determination unit 27 is the edge selection mode, the path selection unit 24 selects, as the restart path, a travel path LI that extends perpendicular to the selected edge 51 and is located farthest from the travel path LI along which the combine harvester 1 is currently traveling. In the example shown in FIG. 8, the second travel path LI2 located at the southern end of the unharvested area is selected as the restart path. As shown in FIG. 4, information indicating the restart path is sent from the path selection unit 24 to the determination unit 27. Thereafter, the process proceeds to step S06.

[0103] In step S06, the discharge determination unit 29 (see FIG. 4) sends a signal to the determination unit 27 indicating that the discharge condition has been satisfied. In response to this signal, the determination unit 27 determines the discharge point PP. At this time, the determination unit 27 determines the discharge point PP based on the information indicating the selected edge 51 received from the edge selection unit 28 and the information indicating the restart route received from the route selection unit 24. Also, at this time, the determination unit 27 determines, as the discharge point PP, a point that is located in the harvested area, adjacent to the selected edge 51, and on an extension of the restart route. Thereafter, the process proceeds to step S07.

[0104] In this way, when the control mode of the determination unit 27 is the edge selection mode, the determination unit 27 determines the discharge point PP at a position adjacent to the selected edge 51, which is the edge selected by the edge selection unit 28. Information indicating the discharge point PP determined by the determination unit 27 is sent to the traveling control unit 26 (see FIG. 4).

[0105] In step S07, the combine harvester 1 continues to travel under the control of the travel control unit 26 until the combine harvester 1 has completed its harvesting travel along the travel route LI on which it is currently traveling. When the combine harvester 1 has completed its harvesting travel along the travel route LI on which it is currently traveling, the process proceeds to step S08. For example, in the example shown in FIG. 8, when the combine harvester 1 has traveled along the first travel route LI1 on which it is currently traveling and has reached the end (west end) of the first travel route LI1, the process proceeds to step S08.

[0106] Then, as shown in FIG. 9, the combine harvester 1 travels south through the harvested area at the western end of the field 5, and then performs a first run from the first point P1 to the second point P2 (step S08 in FIG. 7). The first run is a harvest run in the pre-discharge harvest area M. The pre-discharge harvest area M is the area corresponding to the end of the restart path that is closer to the discharge point PP. More specifically, the pre-discharge harvest area M is preferably the area surrounding the end of the restart path that is closer to the discharge point PP.

[0107] That is, the first run is a harvest run in an area corresponding to the end closer to the discharge point PP of the end of the restart route, which is the travel route LI along which the combine harvester 1 is scheduled to travel first after the discharge operation.

[0108] In the example shown in Fig. 9, the pre-discharge harvesting area M is an area corresponding to the western end (closer to the discharge point PP) of the western and eastern ends of the second travel path LI2. Also, in the example shown in Fig. 9, in the first travel, the combine 1 performs harvesting travel in the pre-discharge harvesting area M while turning to the left.

[0109] Thereafter, under the control of the travel control unit 26, the combine 1 performs the second travel from the second point P2 to the discharge point PP (step S09 in FIG. 7), as shown in FIG. 10. The second travel is travel to the discharge point PP.

[0110] In this way, when the combine 1 moves to the discharge point PP to perform discharge work, the travel control unit 26 is configured to control the travel of the combine 1 so that the combine 1 performs a first travel and then a second travel.

[0111] In the example shown in Fig. 10, the second traveling is performed by traveling backward. Then, under the control of the traveling control unit 26, the combine 1 stops at the discharge point PP in a posture along the restart path with the rear of the machine body facing the selected side 51 (step S10 in Fig. 7).

[0112] That is, after the second run, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 stops at the discharge point PP in a position along the restart path and with the rear of the machine body facing the selected side 51.

[0113] 4, the travel control system A includes an input unit 40. The control unit 20 includes a device control unit 30 and a discharge execution unit 31.

[0114] The input unit 40 may be provided in the combine harvester 1 or may be located outside the combine harvester 1. The input unit 40 has a front button 41 and a rear button 42. When the user operates the front button 41 or the rear button 42, a predetermined signal is sent to the device control unit 30. In other words, the user can manually input an operation by operating the front button 41 or the rear button 42.

[0115] In this way, the driving control system A includes an input unit 40 that accepts manual operation input.

[0116] The device control unit 30 controls the traveling device 11 (see FIG. 1). More specifically, after the combine harvester 1 stops at the discharge point PP, the device control unit 30 controls the traveling device 11 in accordance with an operation input to the input unit 40 so that the combine harvester 1 moves in the fore-and-aft direction of the vehicle body.

[0117] As described above, the traveling control system A includes the device control unit 30 that controls the traveling device 11 of the combine harvester 1.

[0118] More specifically, after the combine harvester 1 stops at the discharge point PP, when the user operates the forward button 41, the device control unit 30 controls the traveling device 11 so that the combine harvester 1 moves in the forward direction of the machine body. Also, when the user operates the rear button 42, the device control unit 30 controls the traveling device 11 so that the combine harvester 1 moves in the rear direction of the machine body. This allows fine adjustment of the stopping position of the combine harvester 1 (step S11 in FIG. 7).

[0119] As shown in Figure 4, the input unit 40 has a discharge button 43. When the user operates the discharge button 43, a predetermined signal is sent to the discharge execution unit 31. In response to the signal, the discharge execution unit 31 controls the grain discharge device 18 (see Figure 1) and executes grain discharge (step S12 in Figure 7). As a result, the grain in the grain tank 14 is discharged to the transport vehicle CV (see Figure 10). The transport vehicle CV is parked at a position adjacent to the discharge point PP on the outer edge 6 of the field.

[0120] When the discharge of grains is completed, the combine harvester 1 resumes the harvesting travel along the restart route under the control of the travel control unit 26 (step S13 in FIG. 7).

[0121] [Location specification mode] As described above, when the second mode button 62 shown in Fig. 5 is touched, the control mode of the determination unit 27 changes to the location designation mode. At the same time, the display on the touch panel 44 transitions to the location designation screen shown in Fig. 11. An image showing the overall image (shape) of the field 5 is displayed on the location designation screen. This image also shows the outer perimeter area SA and the harvest target area CA. As shown in Fig. 4, the display terminal 4 receives the above-mentioned map from the area acquisition unit 22 and displays this image based on the map.

[0122] 11, the user can specify a discharge point PP on the point specification screen by performing a touch operation on the touch panel 44. In this example, it is assumed that the user performs a touch operation on a point located at the western end of the field 5.

[0123] In this way, the driving control system A is provided with the touch panel 44 that allows the discharge point PP to be designated by manual operation input.

[0124] When a discharge point PP is specified on the point specification screen, as shown in Fig. 4, a predetermined signal is sent from the display terminal 4 to the determination unit 27. The signal indicates the specified discharge point PP. The determination unit 27 determines the discharge point PP in accordance with the signal.

[0125] That is, when the control mode of the determination unit 27 is the point designation mode, the determination unit 27 determines the discharge point PP in accordance with the designation made via the touch panel 44. Information indicating the discharge point PP determined by the determination unit 27 is sent to the traveling control unit 26 (see FIG. 4).

[0126] After the user specifies the discharge point PP on the point specification screen shown in Figure 11, when a predetermined operation (for example, operation of the automatic driving start button) is performed, the combine 1 starts automatic driving to harvest the harvest target area CA under the control of the driving control unit 26, as shown in Figure 3.

[0127] In the automatic travel for harvesting the harvest target area CA, when the combine harvester 1 is performing the above-mentioned α-turn travel and the control mode of the determination unit 27 is the point designation mode, the control unit 20 is configured to control the travel of the combine harvester 1 in accordance with the second control flow shown in Fig. 12. This second control flow is executed, for example, every time travel along a new travel route LI is started (i.e., every time the travel route LI that is the target of the automatic travel is switched).

[0128] The processing from step S21 to step S24 of this second control flow is the same as the processing from step S01 to step S04 of the above-mentioned first control flow (see FIG. 7), so a description of steps S21 to S24 will be omitted.

[0129] However, the discharge condition in step S23 is different from the discharge condition in step S03. Although not particularly limited, in this embodiment, the discharge condition (discharge condition in step S23) when the control mode of the determination unit 27 is the point designation mode is "the combine harvester 1 is traveling toward the side adjacent to the discharge point PP among the multiple sides that make up the periphery of the field 5, and it is estimated that the amount of grains that will be stored in the grain tank 14 will exceed a predetermined amount if the combine harvester 1 completes one harvesting trip around the outermost periphery of the currently unharvested area."

[0130] The processing from step S25 to step S32 will be explained below using the example shown in Figures 13 to 15. In the examples shown in Figures 13 to 15, it is assumed that the control mode of the determination unit 27 is the point designation mode, and the discharge point PP is located at a position adjacent to the western side of the field 5.

[0131] Similar to Fig. 8, Fig. 13 shows a first travel route LI1 and a second travel route LI2. Note that travel routes LI other than the first travel route LI1 and the second travel route LI2 are omitted from Fig. 13. Also, in Figs. 14 and 15, travel routes LI other than the second travel route LI2 are omitted from the illustration.

[0132] In step S25, the discharge determination unit 29 (see FIG. 4) sends a signal to the path selection unit 24 indicating that the discharge conditions have been met. In response to this signal, the path selection unit 24 selects a restart path. In this embodiment, when the control mode of the determination unit 27 is the point designation mode, the path selection unit 24 selects, as the restart path, a travel path LI that extends perpendicular to the side adjacent to the discharge point PP among the multiple sides that make up the periphery of the field 5 and is located farthest from the travel path LI on which the combine harvester 1 is currently traveling. In the example shown in FIG. 13, the second travel path LI2 located at the southern end of the unharvested area is selected as the restart path. Then, the process proceeds to step S26.

[0133] The processing from step S26 to step S28 is the same as the processing from step S07 to step S09 in the first control flow (see FIG. 7). In particular, as shown in FIGS. 12 and 14, in this second control flow, the first run also involves a harvesting run in the pre-discharge harvesting region M.

[0134] 15, the second traveling is performed by traveling backward, as in Fig. 10. However, in the example shown in Fig. 15, the combine 1 is controlled by the traveling control unit 26 to stop at the discharge point PP with the left side or the right side of the body facing the side adjacent to the discharge point PP among the multiple sides that form the periphery of the field 5 (step S29 in Fig. 12).

[0135] 15, after the second run, the combine harvester 1 stops at the discharge point PP with the right side of the vehicle body facing one of the multiple sides that make up the periphery of the field 5 that is adjacent to the discharge point PP. However, the present invention is not limited to this. After the second run, the combine harvester 1 may also stop at the discharge point PP with the left side of the vehicle body facing one of the multiple sides that make up the periphery of the field 5 that is adjacent to the discharge point PP.

[0136] That is, after the second run, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 stops at the discharge point PP with the left side or right side of the body facing toward the side adjacent to the discharge point PP among the multiple sides that make up the perimeter of the field 5.

[0137] The processing from step S30 to step S32 is the same as the processing from step S11 to step S13 in the first control flow (see FIG. 7) described above, and therefore a description of steps S30 to S32 will be omitted.

[0138] Note that step S30 does not necessarily have to exist in the second control flow. Also, as shown in Figures 7 and 12, the process corresponding to step S06 in the first control flow does not exist in the second control flow.

[0139] According to the configuration described above, when the combine harvester 1 moves to the discharge point PP to perform the discharge operation, the first travel is performed before the combine harvester 1 moves to the discharge point PP. Then, the first travel is performed to perform harvesting travel in an area corresponding to the end of the restarted path that is closer to the discharge point PP. This makes it easy to ensure a relatively large space around the end of the restarted path that is closer to the discharge point PP.

[0140] Therefore, if the combine harvester 1 is controlled to resume harvesting travel from the end of the restart route after the discharge operation, the above-mentioned relatively large space can be used for turning. This makes it easy for the combine harvester 1 to move to the end of the restart route by automatic travel and to align the vehicle's orientation with the direction of the restart route. In other words, it becomes easy to automatically travel to the point where harvesting travel will resume after the discharge operation and to align the vehicle's orientation with the direction in which harvesting travel can be resumed.

[0141] That is, according to the configuration described above, it is possible to realize a travel control system A and a combine harvester 1 that facilitate automatic travel after the discharge operation.

[0142] Other Embodiments (1) The edge selection unit 28 may select an edge in accordance with a manual operation input other than a touch operation. For example, the edge selection unit 28 may select an edge in accordance with a manual operation input using a mouse, a keyboard, or the like.

[0143] (2) The control mode of the determination unit 27 may be inoperable between an edge selection mode and a point designation mode. For example, the driving control system A may be configured so that the discharge point PP cannot be designated by manual operation input (the point designation mode does not exist). Furthermore, the driving control system A may be configured so that one edge cannot be selected from the multiple edges that form the perimeter of the field 5 by manual operation input (the edge selection mode does not exist).

[0144] (3) The edge selection unit 28 may select edges without following any manual operation input. For example, the edge selection unit 28 may automatically select edges based on various information such as the shape of the field 5.

[0145] (4) When the control mode of the determination unit 27 is the edge selection mode, the attitude (machine body orientation) of the combine 1 when it stops at the discharge point PP after the second travel may be any attitude.

[0146] (5) When the control mode of the determination unit 27 is the point designation mode, the attitude (machine body orientation) of the combine 1 when it stops at the discharge point PP after the second travel may be any attitude.

[0147] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0148] The present invention can be used not only in ordinary combine harvesters, but also in various harvesters such as head-feeding combine harvesters, corn harvesters, potato harvesters, and carrot harvesters. [Explanation of symbols]

[0149] 1: Combine (harvester) 5: Field 11: Running gear 22: Area acquisition part 23: Generation part 24: Route selection section 26: Driving control unit 27: Decision section 28: Edge selection section 30: Device control section 40: Input section 44: Touch panel (point designation section) 51: Selected edge A: Driving control system CA: Harvested area LI: Travel route PP:Discharge point

Claims

1. A travel control system for controlling travel of a harvester, an area acquisition unit that acquires information indicating a harvest target area in a farm field; a generating unit that generates a plurality of travel paths for the harvester to travel through the harvest target area; a route selection unit that selects the travel route from among the plurality of travel routes; a travel control unit that controls travel of the harvester based on the travel route selected by the route selection unit; a determination unit that determines a discharge point at which the harvester performs a discharge operation to discharge the harvested product, the travel control unit is configured to control travel of the harvester so that, when the harvester moves to the discharge point to perform the discharge work, the harvester performs a first travel and then a second travel, The first travel is a harvesting travel in an area corresponding to the end closer to the discharge point of one of both ends of a restart path, which is the travel path along which the harvester is scheduled to travel first after the discharge operation, A travel control system in which the second travel is a travel to the discharge point.

2. a side selection unit that selects one side from a plurality of sides that form the periphery of the field, The cruise control system according to claim 1 , wherein the determination unit determines the discharge point to be a position adjacent to a selected edge, which is the edge selected by the edge selection unit.

3. The cruise control system according to claim 2 , wherein the edge selection unit selects the edge in accordance with a manual operation input.

4. The travel control system described in claim 2 or 3, wherein the travel control unit controls the travel of the harvester so that, after the second travel, the harvester stops at the discharge point in an attitude along the restart path and with the rear of the machine body facing the selected edge.

5. a device control unit that controls a traveling device of the harvester; an input unit that accepts a manual operation input, The travel control system described in claim 4, wherein the device control unit controls the traveling device so that the harvester moves in the fore-and-aft direction of the body in accordance with operation input to the input unit after the harvester stops at the discharge point.

6. a point designation unit that can designate the discharge point by manual operation input; The cruise control system according to claim 1 , wherein the determination unit determines the discharge point in accordance with a designation by the point designation unit.

7. The travel control system described in claim 6, wherein the travel control unit controls the travel of the harvester so that, after the second travel, the harvester stops at the discharge point with the left side or right side of the body facing toward the side adjacent to the discharge point among multiple sides that make up the perimeter of the field.

8. a side selection unit that selects one side from a plurality of sides that form the periphery of the field; a point designation unit that can designate the discharge point by manual operation input, the control mode of the determination unit is switchable between a first mode and a second mode; When the control mode of the determination unit is the first mode, the determination unit determines the discharge point at a position adjacent to a selected edge, which is the edge selected by the edge selection unit; The cruise control system according to claim 1 , wherein when the control mode of the determination unit is the second mode, the determination unit determines the discharge point according to a designation by the point designation unit.

9. an area acquisition unit that acquires information indicating a harvest target area in a farm field; a generating unit that generates a plurality of travel paths for the machine to travel through the harvest target area for harvesting; a route selection unit that selects the travel route from among the plurality of travel routes; a travel control unit that controls travel of the machine body based on the travel route selected by the route selection unit; a determination unit that determines a discharge point at which the machine performs a discharge operation to discharge the harvested product, the travel control unit is configured to control travel of the machine such that, when the machine moves to the discharge point to perform the discharge work, the machine performs a first travel and then a second travel, The first travel is a harvesting travel in an area corresponding to the end closer to the discharge point of one of both ends of a restart path, which is the travel path along which the machine is scheduled to travel first after the discharge operation, The harvester, wherein the second travel is a travel to the discharge point.

Images