Driving method, driving system, and driving program

Abstract

To provide a traveling method capable of preventing a work vehicle from entraining emissions generated by prescribed work while performing the work on work objects, traveling system and traveling program.SOLUTION: A traveling system 10 causes a generation processing part 112 to: create a non-discharge section where waste straw is not discharged, at a prescribed position on a work route R1 before an end of the work route R1; change a traveling direction of a combine-harvester 1 in the non-discharge section; and causing the combine-harvester 1 to travel in the changed traveling direction to execute reaping work, thereby forming a turning area for moving from the work route R1 to a next work route R2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a traveling method for driving a work vehicle.

Background Art

[0002] Conventionally, in a field, a work vehicle (for example, a combine) that performs a mowing operation while automatically traveling according to a preset target path is known. Also, in a corner of a field, a work vehicle that performs a mowing operation while repeatedly moving forward and backward to secure a space (turning area) for moving to the next work path is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, when performing a mowing operation while repeatedly moving forward and backward, there is a problem that the mowing part entangles the discharged straw from the work vehicle.

[0005] An object of the present invention is to provide a traveling method, a traveling system, and a traveling program capable of suppressing a work vehicle from entangling emissions generated by the work while performing a predetermined work on a work target.

Means for Solving the Problems

[0006] The driving method according to the present invention is a method for driving a work vehicle that performs predetermined work on a work object while discharging waste generated by the work along its path. The driving method performs the following actions: generating a non-discharge section in which no waste is discharged at a predetermined position before the end of the first work path in the first work path; changing the direction of travel of the work vehicle in the non-discharge section; and generating a turning area for moving from the first work path to a second work path that follows the first work path by driving the work vehicle in the changed direction of travel and performing the work.

[0007] The travel system according to the present invention is a system for driving a work vehicle that performs predetermined work on a work object while discharging waste generated by the work along its path. The travel system comprises a first processing unit that generates a non-discharge section in which no waste is discharged at a predetermined position before the end of the first work path in the first work path; a second processing unit that changes the direction of travel of the work vehicle in the non-discharge section; and a third processing unit that generates a turning area for moving from the first work path to a second work path following the first work path by driving the work vehicle in the changed direction and performing the work.

[0008] The driving program according to the present invention is a program that drives a work vehicle which performs predetermined work on a work object while discharging the waste generated by the work in the path it travels. The driving program is a program that causes one or more processors to execute the following: generate a non-discharge section in which no waste is discharged at a predetermined position before the end of the first work path in the first work path; change the direction of travel of the work vehicle in the non-discharge section; and generate a turning area for moving from the first work path to a second work path that follows the first work path by driving the work vehicle in the changed direction of travel and performing the work. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a driving method, a driving system, and a driving program that can suppress the inclusion of waste generated by a work vehicle in a work vehicle while performing a predetermined work on a work object. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a functional block diagram showing the configuration of a driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target path set in a field according to an embodiment of the present invention. [Figure 4A] Figure 4A shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 4B] Figure 4B shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 4C] Figure 4C shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 4D] Figure 4D shows an example of the operation procedure of a combine harvester according to an embodiment of the present invention. [Figure 5A] Figure 5A shows an example of a method for generating a turning area in a combine harvester according to an embodiment of the present invention. [Figure 5B] Figure 5B shows an example of a method for generating a turning area in a conventional combine harvester. [Figure 6] Figure 6 shows an example of a method for generating a turning area in a combine harvester according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a method for generating a turning area in a combine harvester according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a method for generating a turning area in a combine harvester according to an embodiment of the present invention. [Figure 9]FIG. 9 is a diagram showing an example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing another example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 14B] FIG. 14B is a diagram showing another example of a method for generating a turning area in the combine according to an embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart showing an example of a procedure of a traveling process executed by a traveling system according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a method for determining a stop position of the combine in the method for generating a turning area according to an embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] As an example of the work vehicle of the present invention, the combine 1 will be described. As shown in FIG. 1, the traveling system 10 according to the embodiment of the present invention includes the combine 1 and the operation terminal 3. The combine 1 and the operation terminal 3 can communicate via the communication network N1. For example, the combine 1 and the operation terminal 3 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

[0013] Combine harvester 1 is a work vehicle that performs agricultural work such as harvesting in a field (an example of a predetermined operation according to the present invention). Combine harvester 1 performs work while driving and transmits GNSS information from the GNSS antenna mounted on combine harvester 1, i.e., the position of combine harvester 1, as measurement point data to the operation terminal 3.

[0014] Furthermore, the combine harvester 1 is capable of automatically traveling along a pre-set target route. Alternatively, the combine harvester 1 may be configured to automatically travel in a portion of the field (e.g., a straight route) and manually travel in other areas (e.g., a turning route). Additionally, the combine harvester 1 receives various setting information from the operation terminal 3 and automatically travels according to this setting information.

[0015] The operating terminal 3 is a portable terminal capable of remotely controlling the combine harvester 1, and is comprised of, for example, a tablet device, a notebook computer, or a smartphone. An operating device similar to the operating terminal 3 may also be mounted on the combine harvester 1.

[0016] The operator can perform various setting operations on the control terminal 3. The control terminal 3 also displays information such as the work status and driving status of the combine harvester 1 while it is automatically moving. The operator can monitor the work status and driving status on the control terminal 3.

[0017] Figure 3 shows an example of a target path R generated for field F. For example, combine harvester 1 performs harvesting work ("circular harvesting," "reciprocal harvesting") within field F, traveling from the outer perimeter to the inner perimeter, following the target path R from the starting position S to the ending position G. Specifically, in the outer perimeter area F1 of field F, combine harvester 1 performs harvesting work while traveling along the edge of the field (outer perimeter). In the inner perimeter area F2 of field F, combine harvester 1 performs harvesting work while traveling in a straight line in the vertical direction of Figure 3, and moves between work paths by turning and traveling in a straight line without performing harvesting work in the horizontal direction.

[0018] An example of the operation procedure of combine harvester 1 is explained using Figure 4. First, as shown in Figure 4A, combine harvester 1 starts automatic driving at the work start position S and drives along the outer perimeter of field F, harvesting the grain stalks. After threshing the harvested grain stalks, combine harvester 1 discharges straw waste (an example of discharge in this invention) from the rear of the machine to the outside. As a result, as shown in Figure 4B, the discharged straw B1 accumulates in the path of combine harvester 1, and a row of discharged straw is formed along the path where combine harvester 1 has finished harvesting. Combine harvester 1 is set to discharge the harvested straw from the grain stalks at the location of the grain stalks being harvested, and is configured to be able to determine the position, width (horizontal width of the row of discharged straw), and length of the discharged straw B1. For example, the straw waste B1 is discharged with a width narrower than the width of the machine, with the center of the combine harvester 1 in the left-right direction as the reference point.

[0019] As shown in Figure 4C, the combine harvester 1 makes two laps around the outer perimeter F1. In this case, two rows of discarded straw are formed, and a predetermined gap (a work area where discarded straw B1 does not exist) is formed between the rows of discarded straw from the first lap and the rows of discarded straw from the second lap. Note that the number of laps around the outer perimeter F1 is not limited to two; it may be one lap or three or more laps.

[0020] Once the combine harvester 1 has finished harvesting in the outer perimeter area F1, it enters the inner perimeter area F2 and begins harvesting in the inner perimeter area F2. In the inner perimeter area F2, as shown in Figure 4D, the combine harvester 1 performs harvesting while moving in a straight line in the vertical direction, and moves between work paths by turning and moving in a straight line within the outer perimeter area F1 (worked area, headland area) without performing harvesting in the horizontal direction. The combine harvester 1 performs harvesting in the inner perimeter area F2, and when it reaches the work completion position G, it automatically stops moving and harvesting.

[0021] Here, when harvesting the outer perimeter area F1, combine harvester 1 changes direction (turns) at the corners of field F. For example, as shown in Figure 5A, when combine harvester 1 harvests one side of the field (the right side in Figure 5A) in the direction D1, and then harvests the other side of the field (the top side in Figure 5A) in the direction D2, combine harvester 1 changes direction from D1 to D2 at the corner (the upper right corner in Figure 5A). Thus, combine harvester 1 needs a turning area at each corner of field F to turn.

[0022] To generate the aforementioned turning area, as shown in Figure 5B, the combine harvester 1, after completing the harvesting work in the D1 direction (see Figure 5A), reverses to a predetermined position and stops, then changes direction and performs harvesting work in an oblique direction while moving forward. The combine harvester 1 performs harvesting work while repeatedly moving forward and backward in an oblique direction. In conventional technology, however, when the combine harvester 1 moves forward in an oblique direction at a predetermined position, a problem arises in which the harvesting unit gets entangled with the discharged straw B1. For example, in the example shown in Figure 5B, when the combine harvester 1 changes direction obliquely and moves straight, the grain stalks are harvested on the left side of the harvesting unit, but the discharged straw B1 that was discharged during the work in the D1 direction gets entangled on the right side of the harvesting unit. When the discharged straw B1 gets entangled in the harvesting unit, processing such as threshing cannot be performed properly, resulting in a problem of reduced efficiency in the harvesting work. In contrast, the travel system 10 according to this embodiment has a configuration that can suppress the combine harvester 1 from getting entangled with the discharged straw B1 when generating the turning area, as shown below. The following describes the specific configurations of the combine harvester 1 and the operating terminal 3 required to realize the above configuration.

[0023] [Operating terminal 3] As shown in Figure 1, the operating terminal 3 is an information processing device comprising an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34, etc. The operating terminal 3 is configured as, for example, a tablet terminal.

[0024] The communication unit 34 is a communication interface for connecting the operating terminal 3 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as combines 1 via the communication network N1 in accordance with a predetermined communication protocol.

[0025] The operation display unit 33 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can register various setting information by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue automatic driving instructions to the combine harvester 1 by operating the operation unit. Furthermore, the operator can understand the driving status of the combine harvester 1 as it automatically travels within the field F by observing the driving trajectory displayed on the operation terminal 3, even from a location away from the combine harvester 1.

[0026] The storage unit 32 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 32 stores a control program that causes the operation control unit 31 to execute predetermined control processing. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) provided on the operation terminal 3 and stored in the storage unit 32. Alternatively, the control program may be downloaded from a server (not shown) to the operation terminal 3 via a communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0027] Furthermore, a dedicated application for automatically operating the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts the dedicated application and performs various setting information processing related to the combine harvester 1, issues automatic operation instructions to the combine harvester 1, and so on.

[0028] The operation control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for various processes performed by the CPU. The operation control unit 31 controls the operation terminal 3 by executing various control programs that are pre-stored in the ROM or memory unit 32 using the CPU.

[0029] As shown in Figure 1, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. The operation control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0030] The setting processing unit 311 sets various setting information for the combine harvester 1 to operate automatically. Specifically, the setting processing unit 311 sets field information related to the field. This field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost perimeter of the field, measurement point data that constitutes the outermost perimeter of the field, and the shape, size, and location information (coordinates, etc.) of the work area within the field where work is performed. The field information also includes the address of the field, the registration name and registration date of the field information, and the registration name and registration date of the work area within the field. The setting processing unit 311 accepts the registration operation of field information by the operator and sets the field information.

[0031] Furthermore, the setting processing unit 311 creates a target path including the work path and the turning path. For example, the operator selects the path pattern, turning type, etc., on the setting screen (not shown). The path patterns include "reciprocal mowing," which involves going back and forth through multiple strokes, and "circular mowing," which involves repeating a circular motion along the inner circumference of the work area within the field while shifting it towards the center. The operator selects one of these path patterns. In addition, the operator can correct the turning radius when turning during reciprocal mowing and circular mowing operations on the setting screen.

[0032] Furthermore, the setting processing unit 311 creates a work route based on information such as the field information, the route pattern, the turning type, and the turning radius. The setting processing unit 311 registers the created work route in association with the field.

[0033] Furthermore, the setting processing unit 311 sets the travel speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight-ahead vehicle speed, turning vehicle speed, and reverse vehicle speed for both working and non-working states on the setting screen.

[0034] In addition to the information described above, the setting processing unit 311 sets well-known information such as the type of combine harvester 1 (maximum number of harvesting rows), vehicle width, and vehicle length.

[0035] The output processing unit 312 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, the output processing unit 312 outputs work start instructions and work end instructions to the combine harvester 1 based on the operator's operations.

[0036] When the operation control unit 31 receives the work start instruction from the operator, the output processing unit 312 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 receives the work start instruction from the operation terminal 3. Upon receiving the work start instruction, the control device 11 starts the work and movement of the combine harvester 1. When the operation control unit 31 receives the work stop instruction from the operator, the output processing unit 312 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 receives the work stop instruction from the operation terminal 3. Upon receiving the work stop instruction, the control device 11 stops the work and movement of the combine harvester 1.

[0037] The operating terminal 3 may also be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operating terminal 3 can function as an operating terminal for the server by having a browser program executed by the operation control unit 31. The server then comprises the processing units described above and executes each of the processes.

[0038] [Combine Harvester 1] Figure 2 shows an external view of the combine harvester 1 from the side. As shown in Figures 1 and 2, the combine harvester 1 includes a threshing unit 4, a sorting unit 5, a straw waste processing unit 6, a power unit 8, a control unit 9, a control device 11, a memory unit 12, a positioning unit 13, a driving unit 14, a harvesting unit (an example of a work unit in the present invention) 15, a storage unit 16, a communication unit 17, and the like. The combine harvester 1 is a so-called self-propelled combine harvester. The combine harvester 1 moves using the driving unit 14, threshes the stalks harvested by the harvesting unit 15 in the threshing unit 4, sorts the grains in the sorting unit 5 and stores them in the storage unit 16. The combine harvester 1 processes the straw after threshing using the straw waste processing unit 6. The combine harvester 1 drives the traveling section 14, the harvesting section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw waste processing section 6 using power supplied by the power unit 8.

[0039] The running gear 14 is located below the machine frame 29 and comprises a pair of left and right crawler-type running gears 2 and a transmission (not shown). The running gear 14 uses power (e.g., rotational power) transmitted from the engine 27 of the power unit 8 to rotate the crawlers of the crawler-type running gears 2, thereby causing the combine harvester 1 to move in the forward and backward directions and to turn in the left and right directions. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type running gears 2 and can also change the speed of the rotational power.

[0040] The harvesting unit 15 is located in front of the traveling unit 14 and performs harvesting work on rows up to the number of harvestable rows. The harvesting unit 15 includes a divider 28, a lifting device 20, a cutting device 23, and a conveying device 7.

[0041] The divider 28 separates the grain stalks in the field into individual rows and guides a predetermined number of grain stalks, within the number of rows that can be harvested, to the lifting device 20. The lifting device 20 lifts the grain stalks guided by the divider 28. The cutting device 23 cuts the grain stalks that have been lifted by the lifting device 20. The conveying device 7 conveys the grain stalks cut by the cutting device 23 to the threshing unit 4.

[0042] The threshing unit 4 is located behind the harvesting unit 15. The threshing unit 4 comprises a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks of grain conveyed from the conveying device 7 of the harvesting unit 15 for threshing, and further transports the threshed stalks, i.e., the straw, to the straw disposal unit 6. The threshing drum 19 threshes the stalks of grain being transported by the feed chain 18.

[0043] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 includes an oscillating sorting device 21, a blown-air sorting device 22, a grain conveying device (not shown), and a straw debris discharge device (not shown). The oscillating sorting device 21 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw debris by sieving. The blown-air sorting device 22 further separates the threshed grain separated by the oscillating sorting device 21 into grain and straw debris by blowing air. The grain conveying device conveys the grain separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the storage unit 16. The straw debris discharge device discharges the straw debris separated by the oscillating sorting device 21 and the blown-air sorting device 22 to the outside of the machine.

[0044] The storage unit 16 is located to the right of the threshing unit 4. The storage unit 16 comprises a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grain that has been transported from the sorting unit 5. The discharge device 25 consists of an auger and the like, and at a predetermined discharge position in the field F, it discharges the grain stored in the storage tank 24 to a transport vehicle.

[0045] The straw discharge processing unit 6 is located behind the threshing unit 4. The straw discharge processing unit 6 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 unit 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. The straw discharge processing unit 6 discharges the straw from the harvested grain stalks at the location of the grain stalks to be harvested. In this way, the combine harvester 1 harvests grain stalks while moving and discharges the straw B1 to the rear of the machine, so that the straw B1 is piled up in rows in the tracks left by the combine harvester 1 (see Figure 4B, etc.).

[0046] The power unit 8 is located above the traveling unit 14 and in front of the storage unit 16. 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 14, the harvesting unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

[0047] 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 14, 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 15, the threshing operation by the threshing unit 4, and the discharge operation by the discharge device 25 of the storage unit 16.

[0048] The positioning unit 13 acquires the position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives positioning signals from positioning satellites via a positioning antenna and acquires position information of the positioning unit 13, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals.

[0049] The communication unit 17 (see Figure 1) is a communication interface for connecting the combine 1 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as the operation terminal 3 via the communication network N1 in accordance with a predetermined communication protocol.

[0050] The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 12 stores control programs, such as a driving program, which causes the control device 11 to execute the driving process described later (see Figure 15). For example, the driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Alternatively, the driving program may be downloaded from a server (not shown) to the combine 1 via a communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information obtained from the operation terminal 3.

[0051] The control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as temporary memory for the various processes performed by the CPU. The control device 11 controls the combine 1 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0052] Specifically, as shown in Figure 1, the control device 11 includes various processing units such as a driving processing unit 111 and a generation processing unit 112. The control device 11 functions as these various processing units by executing various processes according to the driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The driving program may be a program that causes multiple processors to function as processing units.

[0053] The driving processing unit 111 automatically drives the combine harvester 1 according to a target route R set for the field F. Specifically, the driving processing unit 111 drives the combine harvester 1 according to a plurality of work routes included in the target route R, which cause the combine harvester 1 to perform predetermined tasks (harvesting), and a turning route that connects the plurality of work routes. For example, the driving processing unit 111 acquires various setting information set for the field F from the operation terminal 3. In addition, during harvesting, the driving processing unit 111 acquires the position of the combine harvester 1 from the positioning unit 13, and controls the power unit 8, driving unit 14, and harvesting unit 15 so that the combine harvester 1 automatically drives along the work routes and performs harvesting based on the position of the combine harvester 1 and the work routes included in the target route R.

[0054] For example, as shown in Figure 3, the travel processing unit 111 causes the combine harvester 1 to automatically travel along the outer perimeter in the outer perimeter region F1 from the work start position S and perform harvesting work, and then to automatically travel and perform harvesting work in the inner perimeter region F2 to the work end position G.

[0055] The generation processing unit 112 generates turning areas for moving from one work path to the next. For example, in the example shown in Figure 5A, the generation processing unit 112 generates turning areas at each corner of the outer perimeter area F1 of the field F for the combine harvester 1 to change direction from direction D1 to direction D2 during each of the harvesting operations from the first to the third round.

[0056] Specifically, the generation processing unit 112 generates a non-discharge section where straw B1 is not discharged at a predetermined position before the end of work path R1 (an example of the first work path in the present invention) in the D1 direction. The generation processing unit 112 also changes the direction of travel of the combine harvester 1 in the non-discharge section. Then, by having the combine harvester 1 travel in the changed direction and perform harvesting work, the generation processing unit 112 generates a turning area for moving from work path R1 to the next work path R2 (an example of the second work path in the present invention).

[0057] For example, as shown in Figure 6, when the combine harvester 1 is performing harvesting work while moving straight along the work path R1, the generation processing unit 112 stops the combine harvester 1 at a predetermined position (a predetermined distance L1 before the end of the work path R1 (the edge of the field)). While the combine harvester 1 is stopped, the generation processing unit 112 raises the harvesting unit 15 to a non-working height to stop the harvesting operation.

[0058] Subsequently, as shown in Figure 7, the generation processing unit 112 moves the combine harvester 1 backward from a predetermined position along the work path R1 for a predetermined distance L2. While the combine harvester 1 is moving backward, the generation processing unit 112 maintains the cutting unit 15 at a non-working height and stops the cutting operation. Here, an amount of grain stalks (excavated straw) corresponding to the predetermined distance L2 is cut by the cutting unit 15 when traveling in the direction D1, and remains inside the machine body of the combine harvester 1 without being discharged to the outside. The generation processing unit 112 sets the predetermined distance L2 as, for example, the distance from the cutting position (position of the cutting blade) of the cutting unit 15 to the discharge position where the excavated straw B1 is discharged. Note that the cutting position may be the position of the tip of the divider 28.

[0059] After the combine harvester 1 has moved backward by a predetermined distance L2 and stopped, as shown in Figure 8, the production processing unit 112 switches the combine harvester 1 to straight-line travel and lowers the harvesting unit 15 to the working height, resuming travel and harvesting along the work path R1. When the combine harvester 1 resumes straight-line travel and harvesting from the predetermined distance L2 position, the production processing unit 112 discharges an amount of straw (straw B2 shown in Figure 8) that has been accumulated inside the body of the combine harvester 1, corresponding to the predetermined distance L2, so as to overlap with the straw B1 that was discharged onto the work path R1 before the combine harvester 1 was stopped and moved backward.

[0060] After that, when combine harvester 1 moves straight ahead and reaches the end of the predetermined distance L2, all of the straw B2 that had accumulated inside the machine will be discharged. Note that since the grain stalks in the predetermined distance L2 section have already been harvested (pre-harvested area), no harvesting work is performed while combine harvester 1 moves straight ahead in the predetermined distance L2 section.

[0061] After the combine harvester 1 enters a section of predetermined distance L1, the harvesting unit 15 resumes harvesting the grain stalks. At this time, while the combine harvester 1 is traveling and harvesting within the section of predetermined distance L1, no straw is discharged into the section of predetermined distance L2, so the section of predetermined distance L2 becomes a non-discharge section where no straw is discharged. The straw from the grain stalks harvested by the combine harvester 1 in the section of predetermined distance L1 is discharged into the section of predetermined distance L1 (straw discharge B3 shown in Figure 8). The production processing unit 112 causes the combine harvester 1 to travel and perform harvesting operations to the end of the work path R1 (the end of the field). Alternatively, the production processing unit 112 may stop the combine harvester 1 when it reaches the end of the work path R1 and forcibly discharge the straw inside the machine at the stopping position.

[0062] When the combine harvester 1 reaches the end of the work path R1, the production processing unit 112 raises the cutting unit 15 to a non-working height to stop the cutting operation and reverses the combine harvester 1 to a position that passes through a predetermined distance L2 section (non-discharge section) (see Figures 8 and 9). For example, the production processing unit 112 reverses the combine harvester 1 to a position where the cutting blade (or the tip of the divider 28) of the cutting unit 15 is near the beginning of the predetermined distance L2 section and overlaps with the discharged straw B2.

[0063] Subsequently, the production processing unit 112 switches the combine harvester 1 to straight-line travel and changes its direction of travel towards the grain stalks (unharvested area) (left side in Figure 9). The production processing unit 112 also lowers the harvesting unit 15 to working height. As a result, when the combine harvester 1 travels straight in a diagonal direction, grain stalks are harvested on the left side of the harvesting unit 15. At this time, there is a non-discharge section (a section of a predetermined distance L2) to the right of the harvesting unit 15, and since there is no straw discharged there, the harvesting unit 15 does not get entangled in the straw discharged. When the combine harvester 1 travels straight in a diagonal direction, as shown in Figure 10, the straw discharged (straw discharged B4 shown in Figure 10) is discharged in the track.

[0064] When the combine harvester 1 moves diagonally in a straight line and reaches the edge of the field F, the processing unit 112 switches the combine harvester 1 to reverse movement and raises the harvesting unit 15 to a non-working height to stop the harvesting operation.

[0065] Subsequently, as shown in Figure 11, the production processing unit 112 reverses the combine harvester 1 again to a position where it has passed through a predetermined distance L2 section (non-discharge section), switches the combine harvester 1 to straight-line movement, and further changes the direction of travel toward the grain stalks (unharvested area) (left side). When the production processing unit 112 lowers the cutting unit 15 to the working height and the combine harvester 1 moves straight in a diagonal direction, grain stalks are harvested on the left side of the cutting unit 15. Here again, there is no straw discharged on the right side of the cutting unit 15, so the cutting unit 15 does not get tangled in the straw discharged. When the combine harvester 1 moves straight in a diagonal direction, as shown in Figure 12, the straw discharged (straw discharged B5 shown in Figure 12) is discharged in the track. Note that the straw discharged from grain stalks harvested near the edge of field F when the combine harvester 1 moves straight in a diagonal direction may be discharged onto the straw discharged B1 and B2.

[0066] When harvesting is completed in a corner of field F for about three turns of the work path (approximately three times the working width W1 of the harvesting unit 15) (see Figure 12), the production processing unit 112 moves the combine harvester 1 to the starting position of the next work path R2 and starts work in the direction D2 along work path R2.

[0067] In this way, the generation processing unit 112 generates a turning area for moving from work path R1 to work path R2 by having the harvesting operation performed by moving diagonally from work path R1, starting from the non-discharge section. Furthermore, the generation processing unit 112 generates the turning area in advance by performing the above process when working on the outermost (first lap) work path at each corner of field F. As a result, for example, the combine harvester 1 can move smoothly by utilizing the turning area when moving from direction D1 to direction D2 during the second and third laps of work (round-cutting).

[0068] As described above, the generation processing unit 112 generates a non-discharge section by stopping the combine harvester 1 at a predetermined position a predetermined distance L1 before the end of the work path R1, and then discharging the straw B2 to the rear of the combine harvester 1. In the example described above, the generation processing unit 112 stops the combine harvester 1 at the predetermined position (see Figure 6), then moves the combine harvester 1 backward for a predetermined distance L2 along the work path R1 (see Figure 7), and then discharges the straw B2 to the rear of the combine harvester 1 while moving the combine harvester 1 forward (see Figure 8), thereby generating a non-discharge section. The generation processing unit 112 also discharges the straw corresponding to the distance from the cutting position (position of the cutting blade) of the cutting unit 15 of the combine harvester 1 to the discharge position where the straw is discharged to the outside, into a section of predetermined distance L2 on the work path R1.

[0069] In another embodiment, the generation processing unit 112 may generate a non-discharge section by stopping the combine harvester 1 at a predetermined position a predetermined distance L1 before the end of the work path R1 and discharging the straw B2 to the rear of the combine harvester 1. For example, as shown in Figure 14A, the generation processing unit 112 stops the combine harvester 1 and the harvesting unit 15 at a predetermined position a predetermined distance L1 before the end of the work path R1, and then forcibly discharges the straw from inside the combine harvester 1 to the outside while it remains stopped (straw B6 shown in Figure 14A). Once the discharge of the straw B6 is complete, the generation processing unit 112 resumes the straight movement and operation of the combine harvester 1. When the combine harvester 1 enters the section of the predetermined distance L1, it discharges the straw to the position of the harvested grain stalks (see Figure 14B). This creates a non-discharge section on the work path R1 that corresponds to the distance from the harvesting position (position of the harvesting blade) of the harvesting unit 15 to the straw discharge position. With this configuration, the reverse movement of the combine harvester 1 can be omitted.

[0070] The travel paths of the combine harvester 1 for generating the turning area, such as a straight and reverse path along the work path R1 (see Figures 7 and 8), and a straight and reverse path diagonally from the non-discharge section (see Figures 9 to 12), may be pre-generated at the operation terminal 3 and included in the target path R. In this case, the generation processing unit 112 generates the turning area by automatically driving the combine harvester 1 according to the target path R. That is, the generation processing unit 112 can generate the turning area by automatically driving the combine harvester 1 without any operation by the worker.

[0071] The generation processing unit 112 is an example of the first processing unit, second processing unit, and third processing unit of the present invention. The control device 11 may also include separate processing units corresponding to the first processing unit, second processing unit, and third processing unit, respectively.

[0072] [Travel process] An example of the driving process performed by the driving system 10 will be described below with reference to Figure 15.

[0073] Furthermore, the present invention can be understood as an invention of a driving method that performs one or more steps included in the driving process. The one or more steps included in the driving process described herein may be omitted as appropriate. In addition, the execution order of each step in the driving process may differ to the extent that similar effects are produced. Furthermore, although the case in which the control device 11 performs each step in the driving process is described here as an example, a driving method in which one or more processors distribute and execute each step in the driving process can also be considered as another embodiment. Moreover, the driving method of the present invention is included in the driving method, and the driving program of the present invention is included in the driving program that performs the driving process.

[0074] In step S1, the control device 11 determines whether or not it has received a work start instruction. If the control device 11 receives the work start instruction from the operation terminal 3 (S1: Yes), it proceeds to step S2. The control device 11 waits until it receives the work start instruction (S1: No).

[0075] In step S2, the control device 11 starts the automatic driving process. Specifically, the control device 11 makes the combine harvester 1 drive automatically according to the target route R included in the setting information acquired from the operation terminal 3. For example, the control device 11 makes the combine harvester 1 drive automatically according to the target route R in field F (see Figures 3, 4A to 4D) and perform work (harvesting). For example, the control device 11 makes the combine harvester 1 drive in a circular motion along the edge (outer perimeter) of field F in the outer perimeter area F1 of field F and perform harvesting (circular harvesting). The control device 11 also makes the combine harvester 1 drive back and forth in the inner perimeter area F2 of field F and perform harvesting (back and forth harvesting). In addition, the control device 11 discharges straw B1 from the rear of the machine into the track while the combine harvester 1 is working.

[0076] Next, in step S3, the control device 11 determines whether the combine harvester 1 has reached a predetermined position in the corner of the field F. For example, the control device 11 determines whether the combine harvester 1 has reached a position (predetermined position) that is a predetermined distance L1 (see Figure 6) before the end of the work path R1 (field edge). The predetermined distance L1 is set to, for example, a distance corresponding to the width required for the combine harvester 1 to turn. A specific example of how to set the predetermined distance L1 will be described later. If the control device 11 determines that the combine harvester 1 has reached the predetermined position (S3: Yes), it proceeds to step S4.

[0077] In response, if the control device 11 determines that the combine harvester 1 has not reached the predetermined position (S3: No), it proceeds to step S11. The control device 11 continues the driving process while executing the determination process in step S3 until the combine harvester 1 reaches the work completion position G (S11: No). While the combine harvester 1 has not reached the predetermined position, the control device 11 causes the combine harvester 1 to automatically drive along the target path R and perform the harvesting work.

[0078] Furthermore, the aforementioned corner is not limited to the corner (corner) of the boundary of field F, but may also be a corner (corner) within the work area inside field F. For example, if field F includes an irregularly shaped (non-rectangular) work area, the aforementioned corner may be a corner of that work area. Also, the aforementioned corner may be a corner of the work object (in this case, grain stalks), that is, a corner at the boundary between the harvested area and the unharvested area.

[0079] When the combine harvester 1 reaches the predetermined position (S3: Yes), in step S4, the control device 11 stops the combine harvester 1 and switches to reverse travel. The control device 11 moves the combine harvester 1 in reverse along the work path R1 (see Figure 7). The control device 11 raises the harvesting unit 15 to a non-working height and stops the harvesting operation while the combine harvester 1 is stopped or in reverse travel.

[0080] Next, in step S5, the control device 11 determines whether the combine harvester 1 has reversed by a predetermined distance L2. If the reverse distance of the combine harvester 1 reaches the predetermined distance L2 (S5: Yes) (see Figure 7), the control device 11 proceeds to step S6. The control device 11 continues to reverse the combine harvester 1 until the reverse distance reaches the predetermined distance L2 (S5: No).

[0081] In step S6, the control device 11 switches to forward travel and resumes harvesting. For example, as shown in Figure 8, the control device 11 switches the combine harvester 1 to forward travel and lowers the harvesting unit 15 to the working height, resuming straight travel and harvesting along the work path R1. When the control device 11 restarts harvesting, it also discharges an amount of straw B2 corresponding to a predetermined distance L2 that had been accumulated inside the combine harvester 1 so that it overlaps with the straw B1 already discharged along the work path R1 (see Figure 8).

[0082] While the combine harvester 1 is discharging the straw B2 that has accumulated inside the machine (a section of a predetermined distance L2), it moves straight ahead without cutting any new grain stalks. When the combine harvester 1 then enters a section of a predetermined distance L1, the harvesting unit 15 resumes harvesting grain stalks, and the straw B3 is discharged into the section of the predetermined distance L1 (see Figure 8). As a result, the section of the predetermined distance L2 becomes a non-discharge section where no straw is discharged.

[0083] In this way, the control device 11 moves straight along the work path R1 to perform the harvesting work, then reverses midway, and then moves straight along the work path R1 again, causing some of the discarded straw to be discharged on top of the already discharged straw, thereby creating a non-discharge section in the middle of the work path R1 (see Figure 8).

[0084] In step S7, the control device 11 determines whether the combine harvester 1 has reached the end of the work path R1. If the control device 11 determines that the combine harvester 1 has reached the end of the work path R1 (S7: Yes), it proceeds to step S8. The control device 11 causes the combine harvester 1 to continue straight until it reaches the end of the work path R1 (S7: No).

[0085] In step S8, the control device 11 reverses the combine harvester 1 from the end of the work path R1 to the non-discharge section. For example, when the combine harvester 1 reaches the end of the work path R1 (see Figure 8), the control device 11 raises the harvesting unit 15 to a non-working height to stop the harvesting operation and reverses the combine harvester 1 to a position where it has passed through the non-discharge section (a section of a predetermined distance L2) (see Figure 9). For example, the control device 11 reverses the combine harvester 1 to a position where the cutting blade (or the tip of the divider 28) of the harvesting unit 15 is near the beginning of the section of the predetermined distance L2 and overlaps with the discharged straw B2. Specifically, the control device 11 sets the reverse stopping position of the combine harvester 1 so that the cutting blade (or the tip of the divider 28) enters the non-discharge section at the moment the combine harvester 1 starts moving straight and the harvesting unit 15 descends from the non-working height to the working height. The control device 11 may set the reverse stop position based on the vehicle speed of the combine harvester 1, the descending speed of the harvesting unit 15, and so on.

[0086] In step S9, the control device 11 generates a turning area. Specifically, as shown in Figures 9 to 12, the control device 11 generates a turning area by having the combine harvester 1 perform harvesting work by repeatedly moving straight and backward in a diagonal direction while changing direction in the non-discharge section, thereby expanding the already harvested area in the corner. For example, the control device 11 terminates the turning area generation process when a already harvested area of ​​about three times the length of the work path (approximately three times the working width W1 of the harvesting unit 15) is generated in the corner of the field F. The control device 11 may also perform direction changes, diagonal straight movement, and backward movement by the operator riding in the combine harvester 1. Alternatively, the operator may switch to manual driving mode when changing the direction of travel of the combine harvester 1, and switch to automatic driving mode when moving the combine harvester 1 straight and backward.

[0087] Next, in step S10, the control device 11 moves the combine harvester 1 to the next work path R2. The control device 11 moves the combine harvester 1 to the starting position of the next work path R2 and starts work in the direction of D2 on the work path R2 (see Figure 13). The control device 11 may also move the combine harvester 1 to the starting position of the work path R2 in response to the operator's manual steering.

[0088] Next, in step S11, the control device 11 determines whether the combine harvester 1 has reached the work completion position G (see Figure 3). If the control device 11 determines that the combine harvester 1 has reached the work completion position G (S11: Yes), it terminates the driving process. If the control device 11 determines that the combine harvester 1 has not reached the work completion position G (S11: No), it proceeds to step S3. The control device 11 repeatedly executes the above process until the combine harvester 1 reaches the work completion position G (S11: No).

[0089] In this manner, the control device 11 repeatedly executes the above-described process from the work start position S to the work end position G, causing the combine harvester 1 to automatically travel and perform harvesting operations according to the target path R, and also executes processes to generate non-discharge sections and turning areas at corners.

[0090] As described above, the travel system 10 according to this embodiment automatically drives a work vehicle (e.g., a combine harvester 1) along a target path R while performing a predetermined operation (e.g., harvesting) on ​​a work target (e.g., grain stalks) and discharging the resulting waste (e.g., straw) along its path. The travel system 10 also generates a non-discharge section at a predetermined position before the end of the work path R1 where no straw is discharged, changes the direction of travel of the combine harvester 1 in the non-discharge section, and drives the combine harvester 1 in the changed direction to perform the harvesting operation, thereby generating a turning area for moving from the work path R1 to the next work path R2. Specifically, the travel system 10 generates the non-discharge section by stopping the combine harvester 1 at the predetermined position and then discharging the straw onto the work path R1 behind the combine harvester 1.

[0091] According to the above configuration, a non-discharge section is formed on the work path R1 where no straw is present. Therefore, when generating a turning area in the corner of field F, the combine harvester 1 can be turned in the non-discharge section without entangling the straw and perform the harvesting work. Thus, a turning area can be efficiently generated in each corner of field F, and the combine harvester 1 can be turned smoothly during the subsequent circular work (round-cutting), thereby improving the efficiency of the harvesting work.

[0092] Here, we will explain a specific example of how to set the predetermined distance L1.

[0093] Figure 16 shows an example of how to generate a turning area at the corner of field F. Combine harvester 1 travels straight along work path R1 and, upon reaching position P1, which is a predetermined distance L1 before the end of work path R1, switches to reverse and moves backward to position P2, which is a predetermined distance L2 before position P1. After that, combine harvester 1 switches to forward travel and travels and harvests to the end of work path R1, and at the end, switches to reverse travel and moves backward to the non-discharge section (the section between positions P1 and P2). Subsequently, combine harvester 1 changes its direction of travel to the left and travels along path Ra (for example, a path that is an extension of the work path for the second lap) and performs harvesting. When combine harvester 1 reaches the end of path Ra, it switches to reverse and moves backward to the non-discharge section. Subsequently, combine harvester 1 changes its direction of travel further to the left and travels along path Rb (for example, a path that is an extension of the work path for the third lap) and performs harvesting. When combine harvester 1 reaches the end of route Rb, it switches direction and moves to the beginning of the next work route R2.

[0094] As shown in Figure 16, when the control device 11 generates a turning area equivalent to three turns of work width (L3 = work width W1 × 3 turns), it sets the predetermined distance L1 to the work width L3 for three turns plus the distance L2 of the non-discharge section (distance from the position of the cutting teeth to the straw discharge position). This allows the combine harvester 1 to generate a turning area of ​​sufficient width when turning during round-trip harvesting. In this way, the control device 11 determines the position of the predetermined distance L1 (predetermined position) based on the distance from the working position of the cutting unit 15 in the combine harvester 1 to the discharge position where the straw is discharged to the outside, and the working width W1 of the cutting unit 15.

[0095] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0096] In another embodiment, the control device 11 may be configured not to perform the process of generating the non-discharge section if the work target (grain stalks) inside field F beyond the work path R1 extends into the work path R1, that is, if the grain stalks are lodged towards the work path R1. For example, if the grain stalks inside the work path R1 (the second work path) are lodged outwards (towards the work path R1) and the combine harvester 1 reverses from a predetermined distance L1 (see Figure 7), there is a risk of trampling the lodged grain stalks. Therefore, the control device 11 may be configured not to perform the process of generating the non-discharge section if the grain stalks inside the work path R1 are lodged outwards (towards the work path R1). Alternatively, the control device 11 may calculate the degree of lodging (lodging angle) of the grain stalks from images captured by a camera mounted on the combine harvester 1, and may be configured not to perform the process of generating the non-discharge section if the lodging angle is greater than or equal to a predetermined angle.

[0097] In another embodiment, the control device 11 may generate a non-discharge section without reversing the combine harvester 1 if the work target (grain stalks) on the inside of the field beyond the work path R1 is overhanging the work path R1 (i.e., the grain stalks are lodged toward the work path R1). Specifically, the control device 11 may adopt the configuration shown in Figures 14A and 14B if the grain stalks on the inside of the work path R1 are lodged toward the outside (towards the work path R1) (i.e., the lodging angle is greater than or equal to a predetermined angle). For example, the control device 11 stops the combine harvester 1 at a predetermined distance L1, and then forcibly discharges the straw (straw B6 shown in Figure 14A) from inside the combine harvester 1 while it is stopped. Once the discharge of the straw B6 is complete, the control device 11 resumes the straight movement and operation of the combine harvester 1 to generate a non-discharge section (see Figure 14B). This makes it possible to create a non-discharge zone without trampling on lodged grain stalks.

[0098] In another embodiment, the control device 11 may include a first generation mode (see Figures 6 to 8) that generates a non-discharge section by a driving method that includes reverse driving, and a second generation mode (Figures 14A and 14B) that generates a non-discharge section by a driving method that does not include reverse driving.

[0099] Specifically, the control device 11 includes a first generation mode (see Figures 6 to 8) in which the combine harvester 1 is stopped at a predetermined distance L1 (predetermined position), then the combine harvester 1 is reversed for a predetermined distance L2 along the work path R1, and then the combine harvester 1 is moved forward while the straw B2 is discharged onto the work path R1 behind the combine harvester 1, thereby generating a non-discharge section; and a second generation mode (Figures 14A and 14B) in which the combine harvester 1 is stopped at the predetermined position and the straw B6 is discharged onto the work path R1 behind the combine harvester 1, thereby generating a non-discharge section, and the first generation mode and the second generation mode may be switchable between each other. For example, the control device 11 generates a non-discharge section using the first generation mode if the work target (grain stalks) located inside field F beyond the work path R1 does not extend into work path R1, and generates a non-discharge section using the second generation mode if the work target (grain stalks) located inside field F beyond the work path R1 does extend into work path R1. Furthermore, the operator may be able to switch between the first and second generation modes using the operation terminal 3.

[0100] By the way, if field F is a wet field, the ground is likely to become uneven and raised as the combine harvester 1 travels over it. If the straw is discharged onto the raised areas, it is more likely to get caught in the harvesting section 15. Therefore, in another embodiment, the control device 11 may perform a process to generate the non-discharge section when there is a high tendency for the field to be wet. For example, the control device 11 performs a process to generate a non-discharge section when the soil moisture content of field F (working area) is above a predetermined value. Alternatively, for example, if the soil moisture content of field F is below a predetermined value, the control device 11 may generate a turning area using a conventional method (see Figure 5B) without generating a non-discharge section, as the risk of straw getting caught is low. The tendency for field F to be wet may be measured using a soil moisture sensor, a thermal camera, etc., to detect the soil moisture content of field F.

[0101] In the embodiments described above, a combine harvester 1 was given as an example of a work vehicle, but the work vehicle of the present invention is not limited to a combine harvester 1, and may be various work vehicles such as tractors, rice transplanters, and construction machinery. Furthermore, the work vehicle of the present invention may be a work vehicle that automatically travels (automatically steers) along a work path (e.g., a straight path) and manually travels (manually steers) along a turning path, or a work vehicle that manually travels (manually steers) along a work path and automatically travels (automatically steers) along a turning path. In addition, in the driving system 10 according to this embodiment, the operation screen of the operation terminal 3 mounted on the combine harvester 1 may display a target path R including a path for generating the turning area (see Figures 6 to 14B, etc.), and the operator may manually steer according to the target path R.

[0102] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0103] <Note 1> A method of driving a work vehicle that performs a predetermined task on a work target while discharging waste generated by the said task into the vehicle's path, To generate a non-discharge section in the first work path at a predetermined position before the end of the first work path, in which the discharged material is not discharged, In the non-discharge section, the direction of travel of the work vehicle is changed, By having the work vehicle travel in the modified direction of travel and perform the work, a turning area is generated for moving from the first work path to the second work path following the first work path, A driving method that performs this task.

[0104] <Note 2> After stopping the work vehicle at the predetermined position, the non-discharge section is generated by discharging the waste onto the first work path behind the work vehicle. The driving method described in Appendix 1.

[0105] <Note 3> After stopping the work vehicle at the predetermined position, the work vehicle is reversed a predetermined distance along the first work path, and then the work vehicle is moved forward while the discharge is discharged onto the first work path behind the work vehicle, thereby creating the non-discharge section. Driving method as described in Appendix 2.

[0106] <Note 4> The discharged material, corresponding to the distance from the work position of the work section performing the work on the work vehicle to the discharge position where the discharged material is discharged to the outside, is discharged into the predetermined distance section on the first work path. The driving method described in Appendix 3.

[0107] <Note 5> The non-discharge section is generated by discharging the waste material onto the first work path behind the work vehicle while the work vehicle is stopped at the predetermined position. The driving method described in any of the appendices 2 to 4.

[0108] <Note 6> The predetermined position is determined based on the distance from the working position of the work section on the work vehicle to the discharge position where the waste is discharged to the outside, and the working width of the work section. The driving method described in any of the appendices 1 to 5.

[0109] <Note 7> If the work target located inside the field beyond the first work path extends into the first work path, the process of generating the non-discharge section is not executed. The driving method described in any of the appendices 1 to 6.

[0110] <Note 8> A first generation mode in which the work vehicle is stopped at the predetermined position, the work vehicle is reversed a predetermined distance along the first work path, and then the work vehicle is moved forward while the discharge is discharged onto the first work path behind the work vehicle, thereby generating the non-discharge section, A second generation mode in which the non-discharge section is generated by discharging the discharged material onto the first work path behind the work vehicle while the work vehicle is stopped at the predetermined position, Includes, If the work target located inside the field beyond the first work path does not extend into the first work path, the non-discharge section is generated by the first generation mode. If the work target located inside the field beyond the first work path extends into the first work path, the second generation mode generates the non-discharge section. The driving method described in any of the appendices 1 to 7.

[0111] <Note 9> The process of generating the non-discharge section is executed when the moisture content of the soil in the work area exceeds a predetermined value. The driving method described in any of the appendices 1 to 8. [Explanation of Symbols]

[0112] 10: Driving System 1: Combine harvester (work vehicle) 3: Operating terminal 11: Control device 12: Storage section 13: Positioning Unit 14: Running gear 15: Reaping section (working section) 111: Driving section 112: Generation Processing Unit (First Processing Unit, Second Processing Unit, Third Processing Unit) 311: Configuration Processing Unit 312: Output Processing Unit B1~B6: Straw (exhaust material) F: Field (work area) L1: Predetermined distance L2: predetermined distance L3: Working width R: Target path R1: Work route (First work route) R2: Work route (second work route) Ra: Route Rb: Route W1: Working width

Claims

1. A method of driving a work vehicle that performs a predetermined task on a work target while discharging waste generated by the said task into the vehicle's path, In the first work path, in a predetermined section prior to the end of the first work path, a non-discharge section is created in which the discharged material is not discharged. The work vehicle is advanced from the non-discharge section to the end of the first work path to perform the work, then the work vehicle is reversed to a position where at least a portion of it passes through the non-discharge section, and then the direction of travel of the work vehicle is changed in the non-discharge section. By driving the work vehicle in the modified direction of travel and performing the work, a turning area is generated for moving from the first work path to the second work path following the first work path, A driving method that performs this task.

2. The non-discharge section is generated by stopping the work vehicle in the predetermined section and then discharging the waste onto the first work path behind the work vehicle. The driving method according to claim 1.

3. A method for driving a work vehicle that performs a predetermined operation on a work object while discharging waste generated by the operation into the vehicle's track, In the first work path, in a predetermined section prior to the end of the first work path, a non-discharge section is created in which the discharged material is not discharged. In the non-discharge section, the direction of travel of the work vehicle is changed, By driving the work vehicle in the modified direction of travel and performing the work, a turning area is generated for moving from the first work path to the second work path following the first work path, Execute, A driving method comprising: stopping the work vehicle in the predetermined section; moving the work vehicle backward a predetermined distance along the first work path; and then moving the work vehicle forward while discharging the waste onto the first work path behind the work vehicle, thereby generating the non-discharge section.

4. The discharged material, corresponding to the distance from the work position of the work section performing the work on the work vehicle to the discharge position where the discharged material is discharged to the outside, is discharged into the predetermined distance section on the first work path. The driving method described in claim 3.

5. The non-discharge section is generated by stopping the work vehicle in the predetermined section and discharging the waste onto the first work path behind the work vehicle. The driving method according to claim 2.

6. The predetermined section is determined based on the distance from the working position of the work unit on the work vehicle to the discharge position where the waste is discharged to the outside, and the working width of the work unit. A driving method according to any one of claims 1 to 5.

7. If the work target located inside the field beyond the first work path extends into the first work path, the process of generating the non-discharge section is not executed. The driving method according to claim 1.

8. A first generation mode in which the work vehicle is stopped in the predetermined section, the work vehicle is reversed a predetermined distance along the first work path, and then the work vehicle is moved forward while the discharge is discharged onto the first work path behind the work vehicle, thereby generating the non-discharge section, A second generation mode generates the non-discharge section by discharging the discharged material onto the first work path behind the work vehicle while the work vehicle is stopped in the predetermined section, Includes, If the work target located inside the field beyond the first work path does not extend into the first work path, the non-discharge section is generated by the first generation mode. If the work target located inside the field beyond the first work path extends into the first work path, the second generation mode generates the non-discharge section. The driving method according to claim 1.

9. The process of generating the non-discharge section is executed when the moisture content of the soil in the work area exceeds a predetermined value. The driving method according to claim 1.

10. A driving system for driving a work vehicle that performs predetermined work on a work target while discharging waste generated by the work into its driving track, A first processing unit generates a non-discharge section in a predetermined section of the first work path prior to the end of the first work path, in which the discharged material is not discharged. A second processing unit advances the work vehicle from the non-discharge section to the end of the first work path to perform the work, then reverses the work vehicle to a position where at least a part of the work vehicle has passed through the non-discharge section, and then changes the direction of travel of the work vehicle in the non-discharge section. A third processing unit generates a turning area for moving from the first work path to a second work path following the first work path by driving the work vehicle in the changed direction of travel and performing the work, A driving system equipped with the following features.

11. A driving program for driving a work vehicle that performs predetermined work on a work target while discharging waste generated by the work along its route, In the first work path, in a predetermined section prior to the end of the first work path, a non-discharge section is created in which the discharged material is not discharged. The work vehicle is advanced from the non-discharge section to the end of the first work path to perform the work, then the work vehicle is reversed to a position where at least a portion of it passes through the non-discharge section, and then the direction of travel of the work vehicle is changed in the non-discharge section. By driving the work vehicle in the modified direction of travel and performing the work, a turning area is generated for moving from the first work path to the second work path following the first work path, A program to run on one or more processors.

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