Automated driving method, work vehicle, and automated driving system

Abstract

To provide an automatic travel method capable of suppressing deviation from a turning route and improving accuracy of automatic travel, a work vehicle, and an automatic travel system.SOLUTION: A combine 1 is a work vehicle that performs automatic travel according to a preset travel route 53 and includes a control device 30 and an accumulation amount detection unit 26. The control device 30 functions as an automatic travel control unit 35 that controls automatic travel according to the travel route 53 including a turning route 55. The accumulation amount detection unit 26 detects an accumulation amount of grains (crops) accumulated in an accumulation unit 6 of the combine 1. Then, the automatic travel control unit 35 changes a turning parameter related to travel of the turning route 55 according to the accumulation amount.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, work vehicles such as combines are configured to be able to automatically drive based on a preset travel route. For example, a travel route including a plurality of straight travel routes involving harvesting operations and turning routes connecting the respective straight travel routes is created. In the turning travel based on the turning route of the work vehicle, the turning radius and the turning vehicle speed are preset.

[0003] For example, the harvester disclosed in Patent Document 1 includes a harvesting travel mode selection unit for selecting a harvesting travel mode, an overlap value setting unit for setting an overlap value of overlap, a travel route calculation unit for calculating a travel route according to the harvesting travel mode so as to cover a work target area at a route interval determined from the harvesting width and the overlap value, a self-vehicle position calculation unit for calculating the position of the self-vehicle, a control command generation unit for generating a control command based on the deviation between the travel route and the self-vehicle position and the overlap value, and an automatic driving control unit for performing steering control based on the control command.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The combine harvester, a work vehicle, performs harvesting while automatically driving, storing the harvested crop in a grain tank and continuing to drive automatically. The weight of the combine harvester changes depending on the amount of harvested crop stored, which can change the centrifugal force during turning. Therefore, if the combine harvester attempts to turn along a pre-set turning path, it may deviate from the path, potentially degrading the accuracy of the automatic driving. In addition, the centrifugal force during turning may change depending on the angle of inclination of the work vehicle relative to the field ground, and in such cases, it may also deviate from the pre-set turning path. The work vehicle may also deviate from the pre-set turning path if the turning angle of the turning path is relatively large, depending on the turning radius and turning speed.

[0006] The present invention aims to provide an automated driving method, a work vehicle, and an automated driving system that can improve the accuracy of automated driving by suppressing deviation from the turning path. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides an automatic driving method for an automatic driving of a work vehicle based on a preset driving path, comprising: an automatic driving step of performing automatic driving based on the driving path including a turning path; and a storage amount detection step of detecting the amount of harvested material stored in the work vehicle, wherein the automatic driving step is characterized by changing turning parameters related to driving on the turning path based on the storage amount.

[0008] Alternatively, the present invention provides an automatic driving method for an automatic driving of a work vehicle based on a preset driving path, comprising: an automatic driving step of performing automatic driving based on the driving path including a turning path; and a tilt angle detection step of detecting the tilt angle of the work vehicle with respect to the ground of the field, wherein the automatic driving step is characterized by changing turning parameters related to driving along the turning path based on the tilt angle.

[0009] Alternatively, the present invention provides an automatic driving method for an automatic driving of a work vehicle based on a preset driving path, comprising: an automatic driving step of performing automatic driving based on the driving path including a turning path; and a turning angle detection step of detecting the turning angle of the turning path based on the driving path, wherein the automatic driving step is characterized by changing turning parameters related to driving along the turning path based on the turning angle.

[0010] Furthermore, in order to solve the above problems, the present invention provides a work vehicle that automatically travels based on a preset travel path, comprising: an automatic travel control unit that controls automatic travel based on the travel path including a turning path; and a storage amount detection unit that detects the amount of harvested material stored in the work vehicle, wherein the automatic travel control unit changes turning parameters related to travel along the turning path based on the storage amount.

[0011] Furthermore, in order to solve the above problems, the present invention provides an automatic driving system that performs automatic driving of a work vehicle based on a preset driving path, comprising: an automatic driving control unit that controls automatic driving based on the driving path including a turning path; and a storage amount detection unit that detects the amount of harvested material stored in the work vehicle, wherein the automatic driving control unit changes turning parameters related to driving on the turning path based on the storage amount. [Effects of the Invention]

[0012] The present invention provides an automated driving method, a work vehicle, and an automated driving system that can improve the accuracy of automated driving by suppressing deviations from the turning path. [Brief explanation of the drawing]

[0013] [Figure 1] This is a side view of a combine harvester according to an embodiment of the present invention. [Figure 2] This is a block diagram of a combine harvester according to an embodiment of the present invention. [Figure 3]This is a plan view showing an example of a field in which a combine harvester according to an embodiment of the present invention automatically travels. [Figure 4] This is a plan view showing an example of a work screen displayed on a portable terminal of a combine harvester according to an embodiment of the present invention. [Figure 5] This is a flowchart illustrating an example of the operation of an automatic harvesting run using a combine harvester according to an embodiment of the present invention. [Modes for carrying out the invention]

[0014] As an example of a work vehicle according to an embodiment of the present invention, a combine harvester 1 will be described with reference to Figure 1, etc. The combine harvester 1 travels through the field to be worked on by automatic driving or manual operation, and performs harvesting operations such as cutting in order to harvest crops from grain stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic operation in which steering is controlled by automatic driving while the travel speed is controlled according to manual operation, or unmanned operation in which steering and travel speed are controlled by automatic driving, and can autonomously travel, turn and work in the field.

[0015] The combine harvester 1 harvests multiple rows of grain stalks by traveling in a straight line with a predetermined number of rows within the number of rows that can be harvested, and with a harvesting width of those rows. The combine harvester 1 can be set to either a manual driving mode or an automatic driving mode. When the manual driving mode is set, the combine harvester 1 is configured to drive manually in response to the operator's control of the control unit 9.

[0016] On the other hand, when the automatic driving mode is set, the combine harvester 1 is configured to perform automatic harvesting while automatically driving along a driving path set in the field. For example, the combine harvester 1 performs automatic harvesting with driving patterns such as back-and-forth harvesting, which involves moving back and forth along multiple straight paths in the area of ​​the field that has unharvested grain stalks (hereinafter referred to as the unworked area), or circular harvesting, which involves repeatedly moving along a straight path that follows the inner perimeter of the unworked area while shifting it toward the center.

[0017] Before performing automatic harvesting operation, the combine 1 performs an outer peripheral harvesting operation in which it travels while harvesting along the outer peripheral shape of the farmland, thereby forming a headland in the farmland and setting the inside of the headland as the working area for the automatic harvesting operation.

[0018] As shown in FIG. 1, the combine 1 includes a traveling unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw processing unit 7, a power unit 8, and a control unit 9, and is configured as a so-called self-threshing combine. While the combine 1 travels by the traveling unit 2, the harvested grain straws are threshed by the threshing unit 4, the grains are sorted by the sorting unit 5, and stored in the storage unit 6 as harvested products. The combine 1 processes the straw after threshing by the straw processing unit 7. The combine 1 drives the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw processing unit 7 by the power supplied by the power unit 8.

[0019] The traveling unit 2 is provided below the machine body 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 by the power (for example, rotational power) transmitted from the engine 27 of the power unit 8 to travel the combine 1 in the front-rear direction or turn it 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 shift the rotational power. [[ID=X]]

[0020] The harvesting unit 3 is provided in front of the traveling unit 2 and performs a harvesting operation on a row within the number of rows that can be harvested. The harvesting unit 3 includes a divider 13, a lifter 14, a cutter 15, and a conveyor. The divider 13 separates the grain straws in the farmland into individual rows and guides a predetermined number of grain straws within the number of rows that can be harvested to the lifter 14. The lifter 14 lifts the grain straws guided by the divider 13. The cutter 15 cuts the grain straws lifted by the lifter 14. The conveyor 16 conveys the grain straws cut by the cutter 15 to the threshing unit 4.

[0021] The threshing unit 4 is provided behind the cutting unit 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the cereal straws conveyed from the conveying device 16 of the cutting unit 3 for threshing, and further conveys the cereal straws after threshing, that is, the discharged straws, to the straw discharging unit 7. The threshing cylinder 19 threshes the cereal straws conveyed by the feed chain 18.

[0022] The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a rocking sorting device 21, a blowing sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The rocking sorting device 21 sifts the threshed material that has fallen from the threshing unit 4 to sort it into grains and straw waste, etc. The blowing sorting device 22 further sorts the threshed material sorted by the rocking sorting device 21 into grains and straw waste, etc. by blowing. The grain conveying device conveys the grains sorted by the rocking sorting device 21 and the blowing sorting device 22 to the storage unit 6. The straw waste discharging device discharges the straw waste, etc. sorted by the rocking sorting device 21 and the blowing sorting device 22 to the outside of the machine.

[0023] The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 24 and a discharging device 25. The grain tank 24 stores the grains conveyed from the sorting unit 5 as the harvested product. In the storage unit 6, the maximum amount (maximum storage amount) that the grain tank 24 can store grains is set. The discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary location.

[0024] Furthermore, the storage unit 6 includes a storage amount detection unit 26 that detects the amount of grain stored in the grain tank 24 (see Figure 2). The storage amount detection unit 26 may be configured, for example, by arranging grain sensors (paddy sensors) that detect grain at positions that divide the storage space of the grain tank 24 into multiple stages at predetermined intervals in the height direction, and detecting the amount of grain stored according to the position of the grain sensor that detects grain in the grain tank 24. Alternatively, the storage amount detection unit 26 may be configured by arranging a yield sensor that detects the yield of grain at the discharge port into which the grain conveyed from the sorting unit 5 is put into the grain tank 24, and detecting the amount of grain stored based on the cumulative value of the yield detected by the yield sensor for the grain put into the grain tank 24. Alternatively, the storage amount detection unit 26 may be configured to measure the weight of the grain tank 24, and detect the amount of grain stored according to that weight.

[0025] The straw removal section 7 is located behind the threshing section 4. The straw removal section 7 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0026] The power unit 8 is located 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 harvesting 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 located above the power unit 8. The control unit 9 is equipped with controls around the driver's seat, which is the seat where the operator sits, for controlling the movement of the combine harvester 1. These controls include a handle for instructing the turning of the combine harvester 1, and a main and sub-transmission levers for instructing changes in the forward and reverse speed of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the driving unit 2, which receives input from the handle, main and sub-transmission levers of the control unit 9. The control unit 9 also includes mechanisms for operating the harvesting operation by the harvesting unit 3, the threshing operation by the threshing unit 4, and the discharge operation by the discharge device 25 of the storage unit 6.

[0028] The combine harvester 1 is equipped with a positioning unit 28 that acquires its own position using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna and acquires the position information of the positioning unit 28, i.e., the own position of the combine harvester 1, based on the positioning signals.

[0029] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 2. The control device 30 is composed of a computer such as a CPU and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 32 that communicates with external devices.

[0030] The memory unit 31 stores programs and data for controlling various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by performing calculations based on the programs and data stored in the memory unit 31. For example, the control device 30 obtains the position of the combine harvester 1 from the positioning unit 28. The control device 30 also obtains the amount of grain stored in the grain tank 24 detected by the storage amount detection unit 26 of the storage unit 6.

[0031] The communication unit 32 can communicate wirelessly with external devices such as a mobile terminal 40 held by the worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to communicate wirelessly with the mobile terminal 40 and to send and receive various information between the two devices.

[0032] As shown in Figure 3, the control device 30 receives field information and travel route 53 set for the field 50, which is the target of the combine harvester 1, from the mobile terminal 40 via the communication unit 32 and stores it in the storage unit 31. The field 50 includes unworked areas 51 where work has not yet been performed and worked areas 52 where the harvesting of grain stalks has already been completed. Figure 3 illustrates an example of unworked areas 51, worked areas 52, and a travel route 53 in the field 50.

[0033] Field information includes, for example, information such as the shape, size, and location (coordinates, etc.) of the field area along the outer perimeter of field 50, and the shape, size, and location (coordinates, etc.) of unworked areas 51 and worked areas 52 within field 50. Field information may also include discharge locations adjacent to the collection area outside field 50 within field 50. The travel path 53 includes multiple straight-line paths 54 that travel in a straight line while automatically harvesting the unworked areas 51, and a turning path 55 that automatically turns to connect each of the straight-line paths 54. The turning path 55 is set to one of various turning methods, such as a U-turn, which is a basic turning method that turns 180 degrees by moving forward only; a fishtail turn, which turns 90 degrees by moving forward, then reverses and turns another 90 degrees by moving forward again; or an alpha turn (switchback turn), which moves forward, turns 90 degrees by moving backward, and then moves forward again. Normally, a U-shaped turn that allows for the shortest turning distance is set, but other turning methods may be set according to the operator's arbitrary operation or according to the field conditions. In this embodiment, the turning path 55 may be changed according to the amount of storage in the storage unit 6, and in Figure 3, the turning path 55 before the change is shown with a dashed line, and the turning path 55 after the change is shown with a dashed line.

[0034] The control device 30 sets driving parameters related to automatic driving (automatic harvesting driving) and stores them in the storage unit 31. The driving parameters may be set in advance as initial values, or they may be set by arbitrary operations by the operator using the portable terminal 40. The driving parameters include the vehicle speed when driving forward during harvesting work, the vehicle speed when driving forward when not working, the vehicle speed when driving backward, the turning gain when driving around, the turning radius when driving around, the turning vehicle speed when driving around, etc. The turning gain is a control gain used to create a difference corresponding to turning driving in the angular velocity and steering amount used to control the rotational drive of each of the left and right pair of crawler-type driving devices 11 of the driving unit 2. In this embodiment, parameters related to turning driving, such as the turning vehicle speed and turning radius when driving around, are referred to as turning parameters.

[0035] Furthermore, the control device 30 operates as an automatic driving control unit 35 by executing a program stored in the storage unit 31. The automatic driving control unit 35 realizes the automatic driving process of the automatic driving method according to the present invention.

[0036] When the automatic driving mode is set, the automatic driving control unit 35 controls the automatic driving (automatic harvesting) of the combine harvester 1 based on the driving path 53 set for the field 50. When automatic driving starts, the automatic driving control unit 35 obtains the position of the combine harvester 1 from the positioning unit 28 and controls the power unit 8, the driving unit 2, and the harvesting unit 3 so that the combine harvester 1 automatically drives along the driving path 53 based on the position of the combine harvester 1, the field information, and the driving path 53.

[0037] Furthermore, while the combine harvester 1 is automatically traveling, the automatic travel control unit 35 acquires the amount of grain stored in the grain tank 24 detected by the storage amount detection unit 26 of the storage unit 6, and modifies the turning parameters related to turning in the turning path 55 on the travel path 53 based on the storage amount. The storage amount detection unit 26 implements the storage amount detection process of the automatic travel method according to the present invention. Due to the weight of the machine, including the amount of grain stored in the storage unit 6, and the set turning parameters, the combine harvester 1 may experience excessive centrifugal force, causing crawler slippage, etc., and deviating from the preset turning path 55. Therefore, when the automatic travel control unit 35 predicts a deviation from the turning path 55 based on the amount of grain stored in the storage unit 6, it modifies the turning parameters to control the turning so that the turning of the combine harvester 1, with the weight of the machine including the amount of grain stored in the storage unit 6, does not deviate from the turning path 55.

[0038] The automatic driving control unit 35 constantly, or at predetermined time intervals or distance intervals, determines the amount of stored material in the storage unit 6 while the combine harvester 1 is automatically traveling along the travel path 53 (including the straight path 54 and the turning path 55), and changes the turning parameters when the determination result satisfies the change conditions described later. Furthermore, when the combine harvester 1 performs the discharge operation of the storage unit 6 using the discharge device 25, the automatic driving control unit 35 reverts the changed turning parameters back to their previous state. For example, if the amount of stored material in the storage unit 6 exceeds a predetermined discharge threshold, the combine harvester 1 proceeds to the discharge operation. The predetermined storage amount threshold that serves as the condition for changing the turning parameters may be set lower than the discharge threshold.

[0039] For example, the automatic driving control unit 35 may, using a large amount of stored material in the storage unit 6 as a change condition, change the turning gain to be larger, or the turning radius to be larger, or the turning speed to be lower, depending on the amount of stored material. The combine harvester 1 may have a preset setting for which of the turning gain, turning radius, and turning speed to be changed when changing the turning parameters based on the amount of stored material in the storage unit 6, or it may be set by an operator using a portable terminal 40. The automatic driving control unit 35 does not need to change the turning parameters if the changed turning gain based on the amount of stored material is less than the original turning gain, or if the changed turning radius based on the amount of stored material is smaller than the original turning radius, or if the changed turning speed based on the amount of stored material is faster than the original turning speed.

[0040] The automatic driving control unit 35 is good at notifying the mobile terminal 40 of changes to turning parameters such as turning gain, turning radius, and turning vehicle speed. In particular, when changing the turning gain or turning radius, the turning path 55 will be changed, so it is good to have the mobile terminal 40 change the turning path 55 in the driving path 53. In Figure 3, the turning path 55 before the change is shown with a dashed line, and the turning path 55 after the change is shown with a dashed line. The automatic driving control unit 35 also obtains the driving path 53 including the changed turning path 55 from the mobile terminal 40 and uses it for automatic driving.

[0041] The automatic driving control unit 35 may notify the operator of changes to the turning parameters (for example, increasing the turning gain, increasing the turning radius, decreasing the turning speed, etc.) by displaying the information on a display device provided on the control unit 9 or by outputting it as sound through a speaker. Alternatively, the automatic driving control unit 35 may transmit a notification signal indicating a change in turning parameters to the mobile terminal 40, and the mobile terminal 40 may notify the operator by displaying the information on the display unit 44 or by outputting it as sound through a speaker based on the notification signal. The automatic driving control unit 35 may also notify the operator of turning by using the display device or speaker on the control unit 9, or by using the display unit 44 or speaker on the mobile terminal 40.

[0042] Specifically, the automatic driving control unit 35 pre-sets a predetermined storage amount threshold for the maximum storage amount of the storage unit 6, and also pre-sets a predetermined amount of change to modify the turning parameters in accordance with the storage amount threshold. Then, when the storage amount of the storage unit 6 exceeds the storage amount threshold (for example, 3 / 4 of the maximum storage amount), the automatic driving control unit 35 changes the turning parameters by the specified amount, for example, by increasing the turning gain by 1.5 times. The combine harvester 1 may have pre-set turning parameters under normal conditions and changed turning parameters (changed values) or change amounts based on the storage amount, or it may be set according to arbitrary operations by the operator.

[0043] Alternatively, the automatic driving control unit 35 pre-sets multiple storage amount thresholds for the maximum storage amount of the storage unit 6, and also pre-sets multiple change amounts for changing the turning parameters corresponding to each of the multiple storage amount thresholds. Then, the automatic driving control unit 35 compares the amount stored in the storage unit 6 with the storage amount threshold at each stage and changes the turning parameters by the change amount corresponding to the storage amount threshold reached.

[0044] Alternatively, the automatic driving control unit 35 pre-sets the correspondence between the amount of liquid stored in the storage unit 6 and the amount of change in the turning parameters using a table or formula. Then, based on this correspondence, the automatic driving control unit 35 changes the turning parameters by the amount corresponding to the amount of liquid stored.

[0045] The automatic driving control unit 35 may change at least one of the following: turning gain, turning radius, and turning vehicle speed, or it may change two or more in combination.

[0046] For example, the automatic driving control unit 35 sets a limit value for one turning parameter, and if the change value of one turning parameter based on the amount stored in the storage unit 6 exceeds the limit value, it suppresses the change of one turning parameter to the limit value and also changes other turning parameters to predetermined change values. At this time, the change values ​​of the other turning parameters should be set to values ​​that suppress deviation from the turning path 55 when the combine 1 performs turning travel with the weight of the machine including the amount stored in the storage unit 6 and with one turning parameter set to the limit value.

[0047] Specifically, the automatic driving control unit 35 changes the turning radius to a predetermined turning radius limit value and changes the turning speed to a value lower than a predetermined speed value (for example, a pre-set turning speed) when the change in turning radius based on the amount of stored material exceeds a predetermined turning radius limit value. The turning radius limit value is set so that the turning path 55 stays within the field 50, and may also be set as a threshold for switching the turning method. By limiting the change in turning radius to the turning radius limit value, it is possible to prevent the turning path 55 from going outside the field 50 and to prevent the turning method from switching due to the turning radius becoming too large. Alternatively, the automatic driving control unit 35 may change the turning method set for the turning path 55 to another turning method when the change in turning radius based on the amount of stored material exceeds a predetermined turning radius limit value.

[0048] Alternatively, if the change in turning speed based on the amount of stored fluid falls below a predetermined turning speed limit, the automatic driving control unit 35 sets the turning speed to the said turning speed limit and changes the turning radius to a value greater than a predetermined radius value (for example, a preset turning radius).

[0049] The portable terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1. It is composed of, for example, a tablet terminal equipped with a touch panel or a notebook-type personal computer. A similar operating device to the portable terminal 40 may also be provided on the control unit 9. In this invention, the automatic driving system is composed of the combine harvester 1 and the portable terminal 40. The portable terminal 40 may be a separate component from the combine harvester 1, or it may be integrated with the combine harvester 1.

[0050] As shown in Figure 2, the mobile terminal 40 is equipped with a terminal-side control unit 41 which is composed of a computer such as a CPU. The terminal-side control unit 41 is connected to a terminal-side storage unit 42 which includes ROM, RAM, a hard disk drive, and flash memory, and a terminal-side communication unit 43 which communicates with external devices. The mobile terminal 40 is also equipped with a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0051] The terminal-side storage unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the terminal-side control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the terminal-side storage unit 42. The terminal-side storage unit 42 also stores field information and travel route 53 of the field 50 which is the work target of the combine harvester 1.

[0052] The terminal-side communication unit 43 is connected to the combine harvester 1's communication unit 32 via a wireless communication antenna. The terminal-side control device 41 controls the terminal-side communication unit 43 to communicate wirelessly with the combine harvester 1 and transmit and receive various information between the two devices.

[0053] The terminal-side control device 41 operates as a field selection unit 46, a travel route creation unit 47, and a display control unit 48 by executing a program stored in the terminal-side storage unit 42. The field selection unit 46, the travel route creation unit 47, and the display control unit 48 respectively realize the field selection process, the travel route creation process, and the display control process of the automatic travel method according to the present invention.

[0054] The field selection unit 46 manually or automatically selects the field 50 to be used for the automated driving operation. For example, the field selection unit 46 displays a field selection screen (not shown) on the display unit 44, which displays the field 50 corresponding to the field information stored in the terminal-side storage unit 42, making them selectable. When any field 50 is selected on the field selection screen in response to a manual operation, the field selection unit 46 selects the selected field 50 as the target of the operation and reads the field information from the terminal-side storage unit 42.

[0055] Furthermore, when the field selection unit 46 operates to create a new field on the field selection screen, it selects the new field at the combine harvester 1's current position as the work target. When the combine harvester 1 travels around the outer perimeter of the new field to harvest, the field selection unit 46 receives the combine harvester 1's current position, which has been determined by the combine harvester 1's positioning unit 28, and records the position information of the outer perimeter and the position information of the harvesting route to create field information for the new field and store it in the terminal-side storage unit 42.

[0056] The travel path creation unit 47 creates a travel path 53 in which the combine harvester 1 performs work while traveling. For example, it creates a travel path 53 (see Figure 3) that automatically travels through the field 50 selected by the field selection unit 46, stores it in the terminal-side storage unit 42, and transmits it to the combine harvester 1 via the terminal-side communication unit 43. The travel path 53 includes travel information related to automatic travel and work information related to work such as harvesting. The travel information includes the travel position in the field 50, as well as the direction of travel and set vehicle speed at each travel position. The work information includes information related to work such as the operation or stop of harvesting at each travel position, harvesting speed, and harvesting height.

[0057] Furthermore, when the automatic driving control unit 35 changes the turning parameters according to the amount of storage in the storage unit 6, the terminal-side control device 41 acquires the changed turning parameters from the combine harvester 1 and stores them in the terminal-side storage unit 42. At this time, if the changed turning parameters are turning gain or turning radius and require a change in the turning path 55, the travel path creation unit 47 changes the turning path 55 according to the changed turning gain or turning radius and changes the travel path 53. The travel path creation unit 47 transmits the travel path 53, including the changed turning path 55, to the combine harvester 1.

[0058] When the automatic driving mode is set, the display control unit 48 controls the display unit 44 to display a work screen 60 for automatic driving of the target field 50, based on the field information of the field 50 selected by the field selection unit 46, as shown in Figure 4. On the work screen 60, the display control unit 48 displays at least the map section 61 and makes the drive start button 62 operable. In addition, on the work screen 60, the display control unit 48 displays the field registration name 64 based on the field information and the harvestable distance 65 based on the amount of grain stored (available capacity) in the grain tank 24 where the combine harvester 1 stores grain.

[0059] The display control unit 48 displays the outline of the field 50 in the map section 61, displays the travel route 53 set in the field 50, and also displays the vehicle marking 66 of the combine harvester 1 at the vehicle's position determined by the positioning unit 28. Within the range of the field 50, the display control unit 48 distinguishes between unworked areas 51 and worked areas 52 by changing the display method such as line type, line color, and background color. The display control unit 48 updates the position of the vehicle marking 66 and the ranges of the unworked areas 51 and worked areas 52 according to the progress of the combine harvester 1's harvesting run.

[0060] The display control unit 48 enables the selection of the start button 62 to begin automatic driving if the conditions for starting automatic driving are met, while disabling the start button 62 if the conditions for starting automatic driving are not met. When the start button 62 is selected, the display control unit 48 transmits a command to start automatic driving, along with field information and information regarding the driving route 53, to the combine harvester 1. In response to the command, the combine harvester 1 begins automatic driving along the driving route 53.

[0061] While the combine harvester 1 is operating automatically, the display control unit 48 displays a stop button (not shown) instead of the start button 62, allowing the user to select it to stop the automatic operation. When the stop button is selected, the display control unit 48 sends a stop command to the combine harvester 1. The combine harvester 1 stops the automatic operation in response to the stop command. When the combine harvester 1 stops the automatic operation, the display control unit 48 displays the start button 62 instead of the stop button.

[0062] Next, an example of the operation of the combine harvester 1 during automatic harvesting will be explained with reference to the flowchart in Figure 5.

[0063] When the combine harvester 1 performs automatic harvesting based on pre-set field information and travel route 53 (step S1), the automatic travel control unit 35 determines whether the amount stored in the storage unit 6 exceeds a predetermined storage amount threshold during the automatic harvesting operation (step S2). If the amount stored is less than or equal to the storage amount threshold (step S2: No), the automatic travel control unit 35 continues the automatic harvesting operation as is (step S3). On the other hand, if the amount stored exceeds the storage amount threshold (step S2: Yes), the automatic travel control unit 35 changes the turning parameters based on the amount stored (step S4).

[0064] Furthermore, if it is not necessary to change the turning path 55 in response to the change in turning parameters (Step S5: No), the automatic driving control unit 35 continues automatic harvesting based on the changed turning parameters (Step S3). On the other hand, if it is necessary to change the turning path 55 in response to the change in turning parameters (Step S5: Yes), the driving path creation unit 47 of the mobile terminal 40 changes the driving path 53 by changing the turning path 55 based on the changed turning parameters (Step S6), and the automatic driving control unit 35 continues automatic harvesting based on the changed turning parameters and the driving path 53 including the changed turning path 55 (Step S3).

[0065] Furthermore, the combine harvester 1, which is continuing its automatic harvesting run, determines whether the amount stored in the storage unit 6 exceeds a predetermined discharge threshold (step S7). If the amount stored is less than or equal to the discharge threshold (step S7: No), the combine harvester 1 proceeds to step S2 and continues its automatic harvesting run if it has not yet completed the harvesting work in the field 50 (step S8: No). On the other hand, if it has completed the harvesting work in the field 50 (step S8: Yes), it terminates its automatic harvesting run.

[0066] On the other hand, if the stored amount exceeds the discharge threshold (Step S7: Yes), the combine harvester 1 moves to the discharge operation to discharge the grain stored in the storage unit 6 (Step S9), and after completing the discharge operation, it returns the turning parameters to their previous state (Step S10). Then, similarly to the above, if the harvesting work in field 50 has not been completed (Step S8: No), it moves to Step S2 and continues the automatic harvesting run, while if the harvesting work in field 50 has been completed (Step S8: Yes), the automatic harvesting run ends.

[0067] As described above, according to this embodiment, the combine harvester 1 is a work vehicle that automatically travels based on a preset travel path 53 and is equipped with a control device 30 and a storage amount detection unit 26. The control device 30 functions as an automatic travel control unit 35 that controls automatic travel based on the travel path 53, which includes a turning path 55. The storage amount detection unit 26 detects the amount of grain (harvested product) stored in the storage unit 6 of the combine harvester 1. The automatic travel control unit 35 then changes the turning parameters related to travel on the turning path 55 based on the storage amount.

[0068] In other words, the present invention provides an automatic driving method for a combine harvester 1, such as a work vehicle, based on a preset driving path 53, which includes an automatic driving step of driving based on the driving path 53 including a turning path 55, and a storage amount detection step of detecting the amount of grain (harvested product) stored in the storage section 6 of the combine harvester 1. The automatic driving step modifies the turning parameters related to driving along the turning path 55 based on the storage amount.

[0069] As a result, the combine harvester 1 can be made to turn along a turning path 55 that matches the centrifugal force acting on it by setting turning parameters based on the amount of stored material. This suppresses deviation from the turning path 55 and improves the accuracy of automatic driving.

[0070] For example, the automatic driving control unit 35 changes the turning gain in the turning path 55 as a turning parameter. By changing the turning gain, it is possible to suppress the combine harvester 1 from deviating from the turning path 55.

[0071] Furthermore, the automatic driving control unit 35 changes the turning radius in the turning path 55 as a turning parameter. By changing the turning radius, it is possible to prevent the combine harvester 1 from deviating from the turning path 55.

[0072] Furthermore, the automatic driving control unit 35 changes the turning speed in the turning path 55 as a turning parameter. By changing the turning speed, it is possible to prevent the combine harvester 1 from deviating from the turning path 55.

[0073] Alternatively, the automatic driving control unit 35 sets the turning radius and turning vehicle speed in the turning path 55 as turning parameters, and if the change in the turning radius based on the amount of stored material exceeds a predetermined limit, it changes the turning radius to the predetermined limit and changes the turning vehicle speed to a value lower than the predetermined vehicle speed. This makes it possible to prevent deviation from the turning path 55 without excessively changing the turning radius.

[0074] In the above-described embodiment, an example was explained in which the automatic driving control unit 35 changes the turning parameters based on the amount stored in the storage unit 6, but the present invention is not limited to this example.

[0075] For example, in another embodiment, the automatic driving control unit 35 may change the turning parameters based on the amount stored in the storage unit 6 and the moisture content of the grain (harvested product) stored in the storage unit 6. For example, when the storage amount detection unit 26 detects the amount of grain stored in the grain tank 24 using a grain sensor (paddy sensor), the weight of the grain stored in the grain tank 24 changes according to the moisture content of the grain. Therefore, the automatic driving control unit 35 calculates the weight of the grain stored in the storage unit 6 based on the amount stored in the storage unit 6 and the moisture content of the grain, and changes the turning parameters based on the calculation result. In this case, the combine harvester 1 measures the moisture content of the grain stored in the storage unit 6 using a moisture content sensor (moisture content detection unit) provided in the storage space or discharge port of the grain tank 24. The moisture content sensor realizes a moisture content detection step for detecting the moisture content of the grain (harvested product) in the automatic driving method according to the present invention.

[0076] This allows for better control over deviations from the turning path 55, even when the moisture content of the grain affects the weight of the combine harvester 1, by setting the turning parameters based on the grain storage volume and moisture content, thereby improving the accuracy of automated driving.

[0077] Alternatively, in other embodiments, the automatic driving control unit 35 may change the turning parameters based on the amount stored in the storage unit 6 and the type of grain (harvested product) stored in the storage unit 6. For example, when the storage amount detection unit 26 detects the amount of grain stored in the grain tank 24 using a grain sensor (paddy sensor), the weight of the grain stored in the grain tank 24 changes depending on the type of grain. Specifically, even if the storage volume of grain is the same, soybeans are heavier than rice or wheat, resulting in a heavier weight of stored grain. Therefore, the automatic driving control unit 35 calculates the weight of the grain stored in the storage unit 6 based on the amount stored in the storage unit 6 and the type of grain, and changes the turning parameters based on the calculation result. In this case, the combine harvester 1 may set the type of grain by operation by a worker using a portable terminal 40 before starting automatic driving, or it may set the type of grain that was set for the same field 50 in the previous year. Furthermore, the control device 30 functions as a type determination unit for determining the type of grain (harvested product), and in the automatic driving method according to the present invention, it realizes a type determination process for determining the type of grain (harvested product).

[0078] This allows for better control over deviations from the turning path 55, even when the type of grain affects the weight of the combine harvester 1, by setting turning parameters based on the amount and type of grain stored, thereby improving the accuracy of automated driving.

[0079] In the above-described embodiment, an example was explained in which the automatic driving control unit 35 changes the turning parameters when it determines that the conditions for changing the turning parameters have been met based on the amount of liquid stored in the storage unit 6. However, the present invention is not limited to this example.

[0080] For example, in another embodiment, if the automatic driving control unit 35 determines that the conditions for changing the turning parameters have been met based on the amount of grain stored in the storage unit 6, it may perform a discharge transition to discharge the grain from the storage unit 6 before changing the turning parameters.

[0081] Specifically, the automatic driving control unit 35 may, as part of the discharge transition, issue a discharge notification prompting the operator to discharge the grain, and may notify the operator that the amount stored in the storage unit 6 has reached a predetermined storage amount threshold, or that the discharge operation of the storage unit 6 should be performed by the discharge device 25, by displaying it on the display device provided in the control unit 9 or by outputting it as sound through the speaker, or it may transmit a notification signal to the mobile terminal 40, and the mobile terminal 40 may notify the operator by displaying it on the display unit 44 or by outputting it as sound through the speaker based on the notification signal.

[0082] At this time, the worker who receives the discharge notification may interrupt the automatic harvesting run by operating the run stop button (not shown) on the work screen 60 of the mobile terminal 40 and manually move the combine 1 to the discharge position. Alternatively, the worker who receives the discharge notification may automatically interrupt the automatic harvesting run and automatically move the combine 1 to the discharge position by operating the discharge transition button (not shown) on the work screen 60 of the mobile terminal 40. The position where the automatic harvesting run is interrupted is preferably the end of the predetermined straight path 54, but it may also be at an intermediate position on the straight path 54.

[0083] Furthermore, if an operator does not respond to the discharge notification and does not operate the stop-travel button or the discharge transition button, the automatic travel control unit 35 changes the turning parameters based on the amount stored in the storage unit 6 and continues the automatic harvesting operation of the combine harvester 1.

[0084] Alternatively, the automatic driving control unit 35 may automatically perform a discharge movement to a discharge position for discharging the grain as a discharge transition. In this case, the automatic driving control unit 35 may automatically start discharge movement when the amount stored in the storage unit 6 reaches a predetermined storage amount threshold, regardless of the operation of the drive stop button or the discharge transition button. The position where discharge movement starts (the position where automatic harvesting is interrupted) is preferably the end of a predetermined straight path 54, but it may also be an intermediate position on the straight path 54.

[0085] This allows the combine harvester 1 to avoid situations where it deviates from the turning path 55 or where the accuracy of automatic driving deteriorates, by discharging grain from the storage section 6 when the amount of grain stored in the storage section 6 increases to the point where a change in the turning parameters is required.

[0086] In the above-described embodiment, an example was described in which the automatic driving control unit 35 modifies the turning parameters when a deviation from the turning path 55 is predicted based on the amount of liquid stored in the storage unit 6. However, the present invention is not limited to this example.

[0087] For example, in another embodiment, the automatic driving control unit 35 may change the turning parameters when a deviation from the turning path 55 is predicted based on the change conditions derived from the inclination angle of the combine harvester 1 with respect to the ground of the field 50. In this case, the combine harvester 1 is equipped with an inclination angle detection unit that detects the inclination angle of the combine harvester 1 with respect to the ground of the field 50. The automatic driving control unit 35 may determine the inclination angle of the combine harvester 1 before entering each turning path 55 and decide whether or not to change the turning parameters. The inclination angle detection unit implements an inclination angle detection step in the automatic driving method according to the present invention, which detects the inclination angle of the combine harvester 1 with respect to the ground of the field 50.

[0088] The automatic driving control unit 35 modifies the turning parameters based on the tilt angle when the outer load on the combine harvester 1 increases due to the tilt of the combine harvester 1 (for example, when the outer side of the combine harvester 1 becomes lower and the tilt angle exceeds a predetermined tilt angle threshold). For example, the automatic driving control unit 35 modifies the turning parameters based on the condition that the tilt angle of the combine harvester 1 is large, by increasing the turning gain, increasing the turning radius, or decreasing the turning speed as the tilt angle increases.

[0089] In addition, the combine harvester 1 is supported by a pair of left and right crawler-type running devices 11 of the running unit 2. The inclination angle detection unit may detect the inclination angle of the combine harvester 1 with respect to the ground of the inclined field 50 when each crawler-type running device 11 is supporting the machine horizontally. Alternatively, the inclination angle detection unit may detect the inclination angle of the combine harvester 1 with respect to the ground of the field 50 when one crawler-type running device 11 is supporting the machine at a higher and more inclined position than the other crawler-type running device 11.

[0090] Alternatively, in other embodiments, the automatic driving control unit 35 may change the turning parameters when a deviation from the turning path 55 is predicted based on the turning angle or turning radius of the turning path 55 on which the combine harvester 1 travels. In this case, the combine harvester 1 is equipped with a turning angle acquisition unit that acquires the turning angle of the turning path 55 or a turning radius acquisition unit that acquires the turning radius. The automatic driving control unit 35 may determine the turning angle or turning radius before entering each turning path 55 and decide whether or not to change the turning parameters. The control device 30 implements a turning angle detection step or a turning radius detection step in the automatic driving method according to the present invention, which detects the turning angle of the turning path 55 or the turning radius of the turning path 55.

[0091] The automatic driving control unit 35 modifies the turning parameters based on the turning angle or turning radius when the external load on the combine harvester 1 during a turn increases due to the turning angle or turning radius of the turning path 55 (for example, when the turning angle exceeds a predetermined turning angle threshold or when the turning radius exceeds a predetermined turning radius threshold). For example, the automatic driving control unit 35 modifies the turning parameters based on the turning angle of the turning path 55, using a large turning angle as a modification condition, by increasing the turning gain, increasing the turning radius, or decreasing the turning speed as the turning angle increases. Alternatively, the automatic driving control unit 35 modifies the turning parameters based on the turning radius of the turning path 55, using a small turning radius as a modification condition, by increasing the turning gain, increasing the turning radius, or decreasing the turning speed as the turning radius decreases.

[0092] Alternatively, in other embodiments, the automatic driving control unit 35 may change the turning parameters when it predicts a deviation from the turning path 55 based on other change conditions such as the field conditions of the field 50, such as whether it is muddy, the weather on the previous day, or the position where the turning path 55 was deviated from during the automatic harvesting run of the previous year.

[0093] In other embodiments, the automatic driving control unit 35 may determine whether a deviation from the turning path 55 is suspected based on a combination of two or more modification conditions, such as the amount stored in the storage unit 6, the inclination angle of the combine harvester 1, the turning angle of the turning path 55, and other modification conditions, and then modify the turning parameters.

[0094] In the above-described embodiment, an example was explained in which the automatic driving control unit 35 modifies the turning parameters based on predetermined modification conditions for a combine harvester 1 equipped with a driving unit 2 consisting of a pair of left and right crawler-type driving devices 11. However, the present invention is not limited to this example. For example, in another embodiment, a work vehicle equipped with a driving unit 2 consisting of a pair of left and right front wheels and a pair of left and right rear wheels may be configured such that the automatic driving control unit 35 modifies the turning parameters based on the amount of storage in the storage unit 6.

[0095] In the above-described embodiment, an example of a combine harvester 1 consisting of a self-propelled combine harvester was explained, but the present invention is not limited to this example, and the combine harvester 1 may be a conventional combine harvester. Furthermore, in the above-described embodiment, an example was explained in which the control device 30 of the combine harvester 1 functions as an automatic driving control unit 35 that changes turning parameters related to travel along the turning path 55 based on the amount of stored in the storage unit 6, but the present invention is not limited to this example, and the portable terminal 40 of the combine harvester 1 may function as an automatic driving control unit that changes turning parameters related to travel along the turning path 55 based on the amount of stored in the storage unit 6.

[0096] Furthermore, although the above-described embodiment illustrates an example in which the work vehicle is composed of a combine harvester 1, the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery used for harvesting crops.

[0097] Furthermore, the work vehicle of the present invention is not limited to a work vehicle that stores harvested grain or other harvested products while automatically driving, but may consist of other agricultural machinery such as tractors, rice transplanters, and lawnmowers, or other work vehicles other than agricultural machinery. For example, in other agricultural machinery, the automatic driving control unit 35 may change the turning parameters based on the weight of materials such as chemical solutions and seedlings or fuel. Specifically, with the weight being heavy (the weight being heavier than a predetermined weight threshold) as a change condition, the turning gain may be increased as the weight increases, or the turning radius may be increased, or the turning speed may be decreased. In addition, in other agricultural machinery, the automatic driving control unit 35 may change the turning parameters according to change conditions based on the inclination angle of the work vehicle and the turning angle of the turning path 55.

[0098] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Automated driving methods, work vehicles, and automated driving methods that involve such modifications are also included in the technical concept of the present invention.

[0099] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0100] <Note 1> An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a storage volume detection step for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving process is characterized by changing turning parameters related to driving along the turning path based on the storage amount.

[0101] <Note 2> The automatic driving method according to Appendix 1, characterized in that the automatic driving step involves changing the turning gain along the turning path as the turning parameter.

[0102] <Note 3> The automatic driving method according to Appendix 1 or 2, characterized in that the automatic driving step involves changing the turning radius along the turning path as the turning parameter.

[0103] <Note 4> The automatic driving method according to any one of the appendices 1 to 3, characterized in that the automatic driving process involves changing the turning vehicle speed along the turning path as the turning parameter.

[0104] <Note 5> The automatic driving method according to Appendix 1, characterized in that the automatic driving step sets the turning radius and turning vehicle speed in the turning path as turning parameters, and when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value and the turning vehicle speed is changed to a value lower than a predetermined vehicle speed value.

[0105] <Note 6> The process includes a moisture content detection step for detecting the moisture content of the harvested product, The automatic driving method according to any one of the appendices 1 to 5, characterized in that the automatic driving process performs the turning parameter based on the storage amount and the moisture content.

[0106] <Note 7> The process includes a type determination step for determining the type of harvested product, The automatic driving method according to any one of the appendices 1 to 6, characterized in that the automatic driving process performs the turning parameter based on the storage amount and the type of harvested product.

[0107] <Note 8> The automatic driving method according to any one of the appendices 1 to 7, characterized in that the automatic driving process, when it is determined that a change in the turning parameter is required based on the amount of stored material, provides a discharge notification prompting the vehicle to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material.

[0108] <Note 9> An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a tilt angle detection step for detecting the tilt angle of the work vehicle relative to the ground of the field, The automatic driving process is characterized by changing turning parameters related to driving along the turning path based on the inclination angle.

[0109] <Note 10> The automatic driving method according to Appendix 9, characterized in that the automatic driving step involves changing the turning gain along the turning path as the turning parameter.

[0110] <Note 11> The automatic driving method according to Appendix 9 or 10, characterized in that the automatic driving step involves changing the turning radius along the turning path as the turning parameter.

[0111] <Note 12> The automatic driving method according to any one of the appendices 9 to 11, characterized in that the automatic driving step involves changing the turning vehicle speed along the turning path as the turning parameter.

[0112] <Note 13> The automatic driving method according to Appendix 9, characterized in that the automatic driving step sets the turning radius and turning vehicle speed in the turning path as turning parameters, and when the change value of the turning radius based on the inclination angle exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value and the turning vehicle speed is changed to a value lower than a predetermined vehicle speed value.

[0113] <Note 14> The automatic driving method according to any one of the appendices 9 to 13, characterized in that the automatic driving process, when it is determined that the turning parameter needs to be changed based on the inclination angle, issues a discharge notification prompting the vehicle to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material.

[0114] <Note 15> An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a turning angle detection step that detects the turning angle of the turning path based on the aforementioned travel path, The automatic driving process is characterized by changing turning parameters related to driving along the turning path based on the turning angle.

[0115] <Note 16> The automatic driving method according to Appendix 15, characterized in that the automatic driving step involves changing the turning gain along the turning path as the turning parameter.

[0116] <Note 17> The automatic driving method according to Appendix 15 or 16, characterized in that the automatic driving step involves changing the turning radius along the turning path as the turning parameter.

[0117] <Note 18> The automatic driving method according to any one of appendices 15 to 17, characterized in that the automatic driving process involves changing the turning vehicle speed along the turning path as the turning parameter.

[0118] <Note 19> The automatic driving process is characterized by setting the turning radius and turning vehicle speed in the turning path as turning parameters, and if the change value of the turning radius based on the turning angle exceeds a predetermined limit value, changing the turning radius to the predetermined limit value and changing the turning vehicle speed to a value lower than a predetermined vehicle speed value, as described in Appendix 15.

[0119] <Note 20> The automatic driving method according to any one of the appendices 15 to 19, characterized in that the automatic driving process, when it is determined that the turning parameter needs to be changed based on the turning angle, issues a discharge notification prompting the vehicle to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material.

[0120] <Note 21> A work vehicle that automatically drives based on a pre-set driving route, An automatic driving control unit that controls automatic driving based on the driving path including the turning path, The system includes a storage volume detection unit for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving control unit is characterized by changing turning parameters related to driving along the turning path based on the storage amount of the work vehicle.

[0121] <Note 22> The work vehicle according to Appendix 21, characterized in that the automatic driving control unit changes the turning gain along the turning path as the turning parameter.

[0122] <Note 23> The work vehicle according to Appendix 21 or 22, characterized in that the automatic driving control unit changes the turning radius along the turning path as the turning parameter.

[0123] <Note 24> The automatic driving control unit is characterized by changing the turning speed along the turning path as the turning parameter, as described in any of the appendices 21 to 23 for the work vehicle.

[0124] <Note 25> The automatic driving control unit sets the turning radius and turning vehicle speed in the turning path as turning parameters, and when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, it changes the turning radius to the predetermined limit value and changes the turning vehicle speed to a value lower than a predetermined vehicle speed value, as described in Appendix 21.

[0125] <Note 26> It has a moisture content detection unit that detects the moisture content of the harvested product, The work vehicle according to any one of the appendices 21 to 25, characterized in that the automatic driving control unit performs the turning parameters based on the storage amount and the moisture content.

[0126] <Note 27> It has a type determination unit that determines the type of the harvested product, The work vehicle according to any one of the appendices 21 to 26, characterized in that the automatic driving control unit performs the turning parameters based on the storage amount and the type of harvested product.

[0127] <Note 28> The work vehicle according to any one of the appendices 21 to 27, characterized in that the automatic driving control unit, when it determines that it is necessary to change the turning parameter based on the amount of stored material, issues a discharge notification prompting the vehicle to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material.

[0128] <Note 29> An automated driving system that automatically drives a work vehicle based on a pre-set driving route, An automatic driving control unit that controls automatic driving based on the driving path including the turning path, The system includes a storage volume detection unit for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving control unit modifies the turning parameters related to driving along the turning path based on the amount of stored material. An automated driving system characterized by the following features.

[0129] <Note 30> The automatic driving system according to Appendix 29, characterized in that the automatic driving control unit changes the turning gain along the turning path as the turning parameter.

[0130] <Note 31> The automatic driving control unit is characterized by changing the turning radius along the turning path as the turning parameter, as described in Appendix 29 or 30.

[0131] <Note 32> The automatic driving control unit is characterized by changing the turning vehicle speed along the turning path as the turning parameter, as described in any one of the appendices 29 to 31.

[0132] <Note 33> The automatic driving control unit sets the turning radius and turning vehicle speed in the turning path as turning parameters, and when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, it changes the turning radius to the predetermined limit value and changes the turning vehicle speed to a value lower than a predetermined vehicle speed value, as described in Appendix 29.

[0133] <Note 34> It has a moisture content detection unit that detects the moisture content of the harvested product, The automatic driving control unit is characterized in that it performs the turning parameters based on the storage amount and the moisture content, as described in any of the appendices 29 to 33.

[0134] <Note 35> It has a type determination unit that determines the type of the harvested product, The automatic driving system according to any one of the appendices 29 to 34, characterized in that the automatic driving control unit performs the turning parameters based on the storage amount and the type of harvested product.

[0135] <Note 36> The automatic driving system according to any one of the appendices 29 to 35, characterized in that the automatic driving control unit, when it determines that it is necessary to change the turning parameter based on the amount of stored material, issues a discharge notification prompting the driver to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material. [Explanation of Symbols]

[0136] 1. Combine harvester (work vehicle) 2. Running section 3 Reaping part 6 Storage section 24 Glen Tank 26 Storage volume detection unit 30 Control device 35 Automatic Driving Control Unit 40 Mobile devices 41 Terminal-side control device 47. Route Creation Section 53. Route 54 Straight path 55 Turning path

Claims

1. An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a storage volume detection step for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving process is characterized by changing the turning gain along the turning path as a turning parameter related to driving along the turning path, based on the storage amount.

2. The automatic driving method according to claim 1, characterized in that the automatic driving step includes changing the turning radius along the turning path in addition to the turning gain as a turning parameter.

3. The automatic driving method according to claim 1, characterized in that the automatic driving step includes changing the turning vehicle speed along the turning path in addition to the turning gain as a turning parameter.

4. The automatic driving process is characterized in that, in addition to the turning gain, the turning radius and turning vehicle speed along the turning path are set as turning parameters, and when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value and the turning vehicle speed is changed to a value lower than a predetermined vehicle speed value, as described in claim 1.

5. The process includes a moisture content detection step for detecting the moisture content of the harvested product, The automatic driving method according to claim 1, characterized in that the automatic driving process modifies the turning parameters based on the storage amount and the moisture content.

6. The process includes a type determination step for determining the type of harvested product, The automatic driving method according to claim 1, characterized in that the automatic driving process modifies the turning parameters based on the storage amount and the type of harvested product.

7. The automatic driving method according to claim 1, characterized in that the automatic driving process, when it is determined that it is necessary to change the turning parameter based on the amount of stored material, provides a discharge notification prompting the vehicle to discharge the harvested material, or automatically drives to a discharge position for discharging the harvested material.

8. An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a tilt angle detection step for detecting the tilt angle of the work vehicle relative to the ground of the field, The automatic driving process is characterized by changing the turning gain along the turning path as a turning parameter related to driving along the turning path, based on the inclination angle.

9. An automated driving method that automatically drives a work vehicle based on a pre-set driving route, An automated driving process that performs automated driving based on the aforementioned driving path including a turning path, The system includes a turning angle detection step that detects the turning angle of the turning path based on the aforementioned travel path, The automatic driving process is characterized by changing the turning gain along the turning path as a turning parameter related to driving along the turning path, based on the turning angle.

10. A work vehicle that automatically drives based on a pre-set driving route, An automatic driving control unit that controls automatic driving based on the driving path including the turning path, The system includes a storage volume detection unit for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving control unit is characterized by changing the turning gain along the turning path as a turning parameter related to driving along the turning path, based on the storage amount, for the work vehicle.

11. An automated driving system that automatically drives a work vehicle based on a pre-set driving route, An automatic driving control unit that controls automatic driving based on the driving path including the turning path, The system includes a storage volume detection unit for detecting the amount of harvested produce stored in the aforementioned work vehicle, The automatic driving control unit is characterized by changing the turning gain along the turning path as a turning parameter related to driving along the turning path, based on the storage amount.

Images