Control devices and work vehicles

Abstract

To provide a control device and a work vehicle capable of suppressing unnecessary travelling before automatic travelling is started.SOLUTION: A control part 80 includes a vehicle position acquisition part 85, a farm field contour setting part 83, a region setting part 84, and a start position setting part 89. The vehicle position acquisition part 85 acquires position information 99 indicating the position of a combine 1. The farm field contour setting part 83 sets a contour 981P of a farm field 98 on the basis of a plurality of pieces of position information 99. The region setting part 84 sets a region where work has not been executed yet inside the contour 981P on the basis of the plurality of pieces of position information 99. The start position setting part 89 sets a corner part 921P nearest to the position of the combine 1 of a plurality of corner parts 921P-924P in the region where work has not been executed yet to an automatic travelling start position on the basis of the position information 99.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a control device and a work vehicle.

Background Art

[0002] Patent Document 1 discloses a combine harvester capable of automatic traveling. First, the combine harvester forms a worked area on an outer circumferential side of a farm field and an unworked area on an inner circumferential side of the farm field by circumferential mowing during manual traveling, and calculates a travel route for automatic traveling for the unworked area. Subsequently, the combine harvester determines that it is in an automatic travel permission state when it is located at a position where it can capture an automatic travel start travel route among travel routes for automatic traveling.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In Patent Document 1, the position where the combine harvester can capture the automatic travel start travel route does not necessarily match the position where the combine harvester can start automatic traveling. Therefore, the combine harvester cannot smoothly move to a position where it can start automatic traveling, and turning, reversing, detouring or the like may be required in some cases.

[0005] The present invention has been made in view of the above problem, and an object of the present invention is to provide a control device and a work vehicle that can suppress unnecessary traveling until automatic traveling is started.

Means for Solving the Problem

[0006] The control device according to the present invention comprises a vehicle position acquisition unit, a field contour setting unit, an area setting unit, and a start position setting unit. The vehicle position acquisition unit acquires position information indicating the position of the work vehicle. The field contour setting unit sets the contour of the field based on a plurality of the position pieces. The area setting unit sets an unworked area inside the contour based on a plurality of the position pieces. The start position setting unit sets the corner of the unworked area closest to the position of the work vehicle among a plurality of corners of the unworked area as the automatic driving start position based on the position information.

[0007] The work vehicle according to the present invention is equipped with the above-described control device and is capable of both manual and automatic driving. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a control device and a work vehicle that can suppress unnecessary driving before starting automatic driving. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of the crop harvesting system according to this embodiment. [Figure 2] This is a block diagram of the combine harvester in this embodiment. [Figure 3] This is a block diagram of a mobile communication terminal in this embodiment. [Figure 4] This diagram shows the field in which the combine harvester operates in this embodiment. [Figure 5] This figure shows an example of a screen displayed on the display unit in this embodiment. [Figure 6] This figure shows an example of various areas displayed on the display unit. [Figure 7] This figure shows an example of the screen displayed on the display unit during manual operation. [Figure 8] This figure shows an example of a driving route for autonomous driving. [Figure 9] This figure shows an example of a screen displayed on the display unit during autonomous driving. [Figure 10]This flowchart shows the method for setting the automatic driving start position according to this embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals and will not be repeated in the description.

[0011] The crop harvesting system 100 according to this embodiment will be described with reference to Figures 1 to 3. Figure 1 is a schematic diagram of the crop harvesting system 100 according to this embodiment. Figure 2 is a block diagram of the combine harvester 1 in this embodiment. Figure 3 is a block diagram of the mobile communication terminal 7 in this embodiment.

[0012] In this specification, for the sake of ease of understanding, the forward / backward direction, left / right direction, and up / down direction may be described. Here, the forward / backward direction, left / right direction, and up / down direction are directions viewed from the perspective of a worker (i.e., driver) seated in the driver's seat (not shown) located in the operating space 2a (see Figure 1). However, the forward / backward direction, left / right direction, and up / down direction are defined only for the sake of explanation, and there is no intention to limit the orientation of the combine harvester 1 of the present invention when it is in use by defining these directions.

[0013] The crop harvesting system 100 includes a self-propelled combine harvester 1, which is a work vehicle, and a portable communication terminal 7. The crop harvesting system 100 is an example of an automated driving system in which an operator gives instructions using the portable communication terminal 7, etc., to the combine harvester 1 to automatically drive and perform crop harvesting work. Instructions for automated driving may be given by operating an operating member provided on the combine harvester 1, rather than using the portable communication terminal 7.

[0014] Automatic travel means that at least steering is autonomously performed along a predetermined route by controlling a travel-related device by the control unit 50 provided in the combine harvester 1. Further, in addition to steering, the configuration may be such that vehicle speed or work by a working device is autonomously performed. Automatic travel includes both cases where a person is on the combine harvester 1 and cases where a person is not on the combine harvester 1.

[0015] As shown in FIG. 1, the combine harvester 1 of the present embodiment includes a traveling body 101, a traveling device 102, a reaping device 200, a threshing device 300, a grain tank 400, the control unit 50, a storage unit 55, and a communication device 16. The traveling device 102 is disposed below the traveling body 101 and supports the traveling body 101. The reaping device 200 is disposed in front of the traveling body 101. The reaping device 200 and the threshing device 300 are an example of working devices. The communication device 16 is disposed above the traveling body 101. The control unit 50 is disposed inside the traveling body 101. The storage unit 55 is disposed inside the traveling body 101.

[0016] The traveling body 101 (the combine harvester 1) includes an engine (not shown). The engine is, for example, a diesel engine. The engine converts thermal energy obtained by burning fuel into kinetic energy (power).

[0017] The traveling device 102 causes the combine harvester 1 to travel. Specifically, the traveling device 102 travels based on power (kinetic energy) generated by the engine. The traveling device 102 includes, for example, a pair of left and right traveling crawler devices. The pair of left and right traveling crawler devices causes the combine harvester 1 to travel in the front-rear direction. Further, the pair of left and right traveling crawler devices causes the combine harvester 1 to turn in the left-right direction.

[0018] The reaping device 200 is driven based on power (kinetic energy) generated by the engine. The reaping device 200 reaps unreaped grain culms in a field. In the present embodiment, the reaping device 200 includes a reaping frame 201 and a grain culm conveying device 204.

[0019] The harvesting frame 201 is mounted on the front of the traveling machine body 101 so as to be able to move up and down. A cutting blade is positioned below the harvesting frame 201. The harvesting device 200 moves the cutting blade back and forth to cut the base of the uncropped grain stalks in the field.

[0020] The grain stalk conveying device 204 conveys the harvested grain stalks cut by the cutting blades to the threshing device 300.

[0021] The combine harvester 1 can move around the field by driving the traveling device 102, and at the same time drive the harvesting device 200 to continuously harvest the unharvested grain stalks in the field.

[0022] The threshing device 300 is driven based on power (kinetic energy) generated in the engine. The threshing device 300 performs threshing work, which involves threshing the harvested grain stalks that have been transported to the traveling machine 101 by the grain stalk conveying device 204. Threshing work is included in the harvesting work. The grain tank 400 stores the grain threshed by the threshing device 300. Specifically, the threshing device 300 is equipped with a winnowing fan 303 and a dust removal fan 305. The threshing device 300 threshes the ear end of the harvested grain stalks that have been transported to the traveling machine 101. The threshing device 300 then separates the threshed ear end (threshed grain) by shaking (specific gravity separation).

[0023] The winnowing fan 303 supplies sorting air towards the harvested grain stalks after threshing. As a result, straw and other impurities are removed from the grain (threshed grain). The grain, from which the straw and other impurities have been removed, is transported to the grain tank 400 for storage. The dust removal fan 305 discharges the dust from the rear of the grain stalk conveying device 204 to the outside of the machine.

[0024] The traveling machine body 101 (combine harvester 1) further comprises a cabin 2. The cabin 2 is box-shaped, and inside the cabin 2 is a driving space 2a for an operator to sit in the driver's seat and operate the combine harvester 1. The driving space 2a is equipped with equipment necessary for operating the combine harvester 1, such as a driver's seat (not shown), a steering wheel, and a main gear lever. For example, the steering wheel is located in front of the driver's seat. The steering wheel is operated by the operator seated in the driver's seat to change the direction in which the traveling device 102 shown in Figure 1 travels. When the mode of the combine harvester 1 is manual driving mode, the operator can turn the combine harvester 1 by operating the steering wheel. Turns include, for example, a 90-degree turn (α turn), a U-turn, and a fishtail turn.

[0025] For example, the main gear shift lever is located to the left of the driver's seat. The main gear shift lever is operated by an operator seated in the driver's seat to switch the direction of travel of the travel device 102 shown in Figure 1 between forward and reverse.

[0026] The main gear lever has various switches. These switches include, for example, a switch for adjusting the threshing depth, a switch for raising the harvesting device 200, a switch for lowering the harvesting device 200, a switch for adjusting the height of the harvesting device 200, and a switch for switching whether or not to transmit the power generated in the engine to the harvesting device 200 and the threshing device 300. The steering wheel, main gear lever, and various switches output signals to the control unit 50 indicating the instructions corresponding to the operator's operation.

[0027] The communication device 16 includes a positioning antenna 61, an inertial measuring device 62, and a communication antenna 63.

[0028] The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that constitute the Global Navigation Satellite System (GNSS). The inertial measurement device 62 includes a 3-axis angular velocity sensor and a 3-directional acceleration sensor.

[0029] The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 7. Wireless communication may employ Wi-Fi (registered trademark) or other wireless LAN (Local Area Network) technologies, or Bluetooth (registered trademark) or other short-range wireless communication technologies. The combine 1 may also be provided with a mobile communication antenna (not shown) for communication using mobile phone lines and the internet.

[0030] The control unit 50 controls the traveling device 102, the harvesting device 200, and the threshing device 300. Specifically, as shown in Figure 2, the control unit 50 is a computing device such as a CPU (Central Processing Unit).

[0031] The control unit 50 receives signals output from the steering wheel, main gear lever, and various switches, and controls the driving device 102, harvesting device 200, and threshing device 300 according to the instructions indicated by the signals. The control unit 50 may be a single piece of hardware, or it may be multiple pieces of hardware that can communicate with each other.

[0032] The storage unit 55 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 55 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 55. The control unit 50 reads various programs from the storage unit 55 and executes them.

[0033] In addition to the inertial measuring device 62 mentioned above, the control unit 50 is also connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a harvesting sensor 68, and a harvest yield sensor 69.

[0034] The position acquisition unit 64 acquires the position of the combine harvester 1, for example, as latitude and longitude information, using positioning signals received by the positioning antenna 61 from positioning satellites. The position acquisition unit 64 may also perform positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method after receiving positioning signals from a reference station (not shown) in an appropriate manner. The reference station is installed at a known location around the field. Alternatively, the position acquisition unit 64 may perform positioning using the DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 64 may acquire the position based on radio wave strength such as that of a wireless LAN, or by inertial navigation using the measurement results of the inertial measuring device 62.

[0035] The communication processing unit 65 transmits and receives data with the mobile communication terminal 7 via the communication antenna 63.

[0036] The vehicle speed sensor 66 detects the vehicle speed of the combine harvester 1. The vehicle speed sensor 66 is installed on the axle or the like, located on the running gear 102. When the vehicle speed sensor 66 is installed on the axle of the running gear 102, the vehicle speed sensor 66 generates pulses corresponding to the rotation of the axle. The detection result data obtained by the vehicle speed sensor 66 is output to the control unit 50.

[0037] The steering angle sensor 67 is installed, for example, on the steering wheel and detects the steering angle of the steering wheel. The detection result data obtained by the steering angle sensor 67 is output to the control unit 50.

[0038] The harvesting sensor 68 detects the height of the harvesting device 200 and the driving state of the harvesting device 200. The detection data obtained by the harvesting sensor 68 is output to the control unit 50. Based on the detection results of the harvesting sensor 68, the control unit 50 can determine whether or not the harvesting device 200 is performing harvesting work. Harvesting work is included in harvesting work.

[0039] The yield sensor 69 detects the amount of grain harvested by the combine harvester 1. The yield sensor 69 outputs information indicating the detected amount of grain to the control unit 50. For example, the yield sensor 69 is installed in the grain tank 400. When grain is transported to the grain tank 400, the yield sensor 69 measures the impact when the grain collides with the yield sensor 69 and outputs the measurement result to the control unit 50. The control unit 50 acquires the measurement result from the yield sensor 69, converts it into the weight or volume of grain, and generates yield information indicating the amount of grain harvested by the combine harvester 1. The control unit 50 does not have to convert the measurement result from the yield sensor 69. In this case, the yield information indicates the measurement result from the yield sensor 69. Note that the yield sensor 69 is not an essential component of the crop harvesting system 100.

[0040] In this embodiment, the control unit 50 is capable of controlling the automatic driving of the combine harvester 1, such as vehicle speed control and steering control. Specifically, the combine harvester 1 can autonomously move forward, backward, and turn under the control of the control unit 50. In addition, the control unit 50 can, for example, autonomously steer and also control the vehicle speed in accordance with the operator's input.

[0041] When autonomously changing the vehicle speed, the control unit 50 controls the vehicle to bring the current vehicle speed detected by the vehicle speed sensor 66 closer to the target vehicle speed. Vehicle speed control is achieved, for example, by changing at least one of the gear ratio of the transmission in the transmission case (not shown) or the engine rotational speed. Vehicle speed control also includes control to reduce the vehicle speed to zero so that the combine harvester 1 stops.

[0042] When steering is performed autonomously, the control unit 50 controls the current steering angle detected by the steering angle sensor 67 to approach the target steering angle. The steering angle is controlled, for example, by driving a steering actuator provided on the rotation axis of the steering wheel. Alternatively, the control unit 50 may adjust the turning angle of the running gear 102 by directly adjusting the rotation of the left and right running crawler devices of the running gear 102 instead of driving the steering actuator.

[0043] Furthermore, the control unit 50 controls the operation of the harvesting device 200 and the threshing device 300 based on predetermined conditions. Specifically, the control unit 50 controls the height adjustment and harvesting operation of the harvesting device 200, as well as the threshing operation by the threshing device 300.

[0044] In addition to controlling automatic driving, controlling the operation of the harvesting device 200 and the threshing device 300, and determining whether to continue harvesting work based on the detection results of various sensors, the control unit 50 can also control the movement of the combine harvester 1, control the operation of the harvesting device 200 and the threshing device 300, and determine whether to continue harvesting work in response to remote operation by an operator using a mobile communication terminal 7.

[0045] Next, the mobile communication terminal 7 will be described with reference to Figure 3. As shown in Figure 3, the mobile communication terminal 7 comprises a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The mobile communication terminal 7 is a tablet device, a smartphone, or a laptop computer, etc. The mobile communication terminal 7 performs various processes related to the automatic driving of the combine harvester 1, as will be described later, but at least some of these processes can also be performed by the control unit 50 of the combine harvester 1. Conversely, at least some of the various processes related to automatic driving performed by the control unit 50 of the combine harvester 1 can also be performed by the mobile communication terminal 7.

[0046] The communication antenna 71 is an antenna for wireless communication with the combine harvester 1. The communication processing unit 72 transmits and receives data with the combine harvester 1 via the communication antenna 71. Specifically, the control unit 80 can receive detection results from various sensors installed on the combine harvester 1 via the communication processing unit 72 and the communication antenna 71.

[0047] As described above, since the combine 1 can connect to a mobile phone network, the mobile communication terminal 7 can connect to the mobile phone network via the combine 1. Therefore, for example, some of the information stored in the storage unit 55 of the combine 1 or the storage unit 81 of the control unit 80 can be stored on an external server. Note that the antenna for mobile communication (not shown) may be provided on the mobile communication terminal 7 instead of the combine 1.

[0048] The display unit 73 is a liquid crystal display or an organic EL (electroluminescence) display, etc. The display unit 73 can display, for example, information about the field, information about automatic driving, information about the settings of the combine harvester 1, detection results from various sensors, and warning information.

[0049] The operating unit 74 includes at least one of a touch panel or hardware keys. The touch panel is positioned on top of the display unit 73 and can detect operation by the operator's fingers or the like. The hardware keys are positioned on the side of the housing of the mobile communication terminal 7 or around the display unit 73 and can detect pressure applied by the operator's fingers or the like.

[0050] The control unit 80 includes an arithmetic unit and an input / output unit (not shown), as well as a storage unit 81. The control unit 80 is an example of a control device. The arithmetic unit is a processor or microprocessor, etc. The storage unit 81 is a main memory device such as ROM and RAM. The storage unit 81 may further include an auxiliary storage device such as an HDD or SSD. Various programs and data are stored in the storage unit 81. The arithmetic unit reads various programs from the storage unit 81 and executes them. Through the cooperation of the above hardware and software, the control unit 80 can be operated as a field contour setting unit 83, an area setting unit 84, a vehicle position acquisition unit 85, a display processing unit 86, a harvest information acquisition unit 87, a calculation unit 88, a start position setting unit 89, and a route setting unit 90. The processing performed by the field contour setting unit 83, the area setting unit 84, the vehicle position acquisition unit 85, the display processing unit 86, the harvest information acquisition unit 87, the calculation unit 88, the start position setting unit 89, and the route setting unit 90 will be described later. Alternatively, the combine harvester 1 may be equipped with a control unit 80, which is an example of a control device, instead of the mobile communication terminal 7.

[0051] Next, the automatic operation of the combine harvester 1 in this embodiment will be described with reference to Figures 4 and 5. Figure 4 is a diagram showing the field 98 on which the combine harvester 1 in this embodiment operates. Figure 5 is a diagram showing an example of the screen displayed on the display unit 73 in this embodiment.

[0052] As shown in Figure 5, the display unit 73 displays a map image MP showing the area around the field 98. The map image MP includes a field image 98P showing the field 98. The map image MP may be stored in, for example, the storage unit 81, or it may be acquired from outside the mobile communication terminal 7 via a mobile phone line and the internet. Specifically, the display processing unit 86 of the mobile communication terminal 7 acquires the map image MP including the field image 98P and displays the map image MP on the display unit 73.

[0053] Furthermore, the display processing unit 86 displays an icon C1 indicating the position of the combine harvester 1 on the display unit 73. Specifically, the position acquisition unit 64 or inertial measuring device 62, etc., of the combine harvester 1 detects the position information 99 of the combine harvester 1. The communication processing unit 65 transmits the position information 99 detected by the position acquisition unit 64 or inertial measuring device 62, etc., to the mobile communication terminal 7. The communication processing unit 72 of the mobile communication terminal 7 receives the position information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the position information 99 received by the communication processing unit 72. Based on the position information 99 acquired by the vehicle position acquisition unit 85, the display processing unit 86 identifies the position of the combine harvester 1 and displays an icon C1 indicating the combine harvester 1 at the corresponding position in the map image MP on the display unit 73.

[0054] The position information 99 may also include information indicating the orientation of the combine harvester 1, i.e., the direction of travel, as detected by the rudder angle sensor 67 or the inertial measuring device 62. Furthermore, the display processing unit 86 may change the orientation of icon C1 to match the orientation of the combine harvester 1 included in the position information 99.

[0055] In this embodiment, when the combine harvester 1 is to be driven automatically, the operator first manually drives the combine harvester 1 along the outline 981 of the actual field 98. In the example shown in Figure 4, the operator manually drives the combine harvester 1 counterclockwise along the outline 981 from the entrance EX1 of the field 98. As the combine harvester 1 drives along the outline 981, it cuts the unharvested grain stalks along its path.

[0056] As shown in Figure 4, if an obstacle SA exists within the field 98 along the contour 981, the operator manually drives the combine harvester 1 to avoid the obstacle SA. Specifically, the combine harvester 1 detours inward from the contour 981 along the obstacle SA.

[0057] The position acquisition unit 64 or the inertial measuring device 62, etc., periodically detects the position information 99 of the combine harvester 1 while it is being manually operated. The multiple position information 99 of the combine harvester 1 detected by the position acquisition unit 64 or the inertial measuring device 62, etc., are sequentially transmitted to the mobile communication terminal 7.

[0058] The communication processing unit 72 of the mobile communication terminal 7 receives multiple location information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the multiple location information 99 received by the communication processing unit 72.

[0059] The display processing unit 86 displays pointers 99P corresponding to each of the multiple location information 99 acquired by the vehicle position acquisition unit 85 at the corresponding positions on the map image MP of the display unit 73.

[0060] The field contour setting unit 83 sets the contour 981P of the field 98 based on a plurality of position information 99 acquired by the vehicle position acquisition unit 85 and the vehicle width d of the combine harvester 1. The vehicle width d is stored in the storage unit 81, for example. d may not be the vehicle width, but rather the harvesting width of the harvesting device 200, etc. In other words, d can be any information indicating the width of the work performed by the combine harvester 1.

[0061] [Contour Setting 1] Next, an example of the field contour setting process in this embodiment will be described. For example, the operator performs an operation on the mobile communication terminal 7 to select four pointers 99PA, 99PB, 99PC, and 99PD from among the multiple pointers 99P displayed on the display unit 73.

[0062] When the operation unit 74 detects an operation to select pointers 99PA, 99PB, 99PC, or 99PD, the field contour setting unit 83 sets the contour 981P of a roughly rectangular frame with pointers 99PA, 99PB, 99PC, and 99PD as the four corner points. Alternatively, the field contour setting unit 83 may set the contour 981P as a roughly rectangular frame connecting pointers 99PA, 99PB, 99PC, and 99PD.

[0063] Alternatively, the field contour setting unit 83 may select four pointers 99P at the four corners from among multiple pointers 99P and set a roughly rectangular frame connecting the four pointers 99P as the contour 981P.

[0064] [Contour Setting 2] Next, another example of the field contour setting process in this embodiment will be described. For example, the display processing unit 86 calculates the trajectory of the combine harvester 1 traveling through the field 98 based on a plurality of position information 99 acquired by the vehicle position acquisition unit 85 and the vehicle width d of the combine harvester 1. The display processing unit 86 overlays the calculated trajectory onto the map image MP of the display unit 73.

[0065] For example, the operator performs an operation on the mobile communication terminal 7 to select the four corner points of the trajectory displayed on the display unit 73. When the operation unit 74 detects the operation to select the four corner points, the field contour setting unit 83 sets the outline 981P of a roughly rectangular frame with the four corner points as vertices.

[0066] In addition, the field contour setting unit 83 may set the contour 981P further outside the outer edge of the combine harvester 1's trajectory in contour setting 1 and contour setting 2.

[0067] Once the field contour setting unit 83 sets the contour 981P, the area setting unit 84 sets various areas inside and outside the field 98 based on the contour 981P. For example, the area setting unit 84 sets a work area inside the field 98 where harvesting work by the combine harvester 1 will be performed. The area setting unit 84 also sets an area outside the field 98 or inside the field 98 that is not subject to harvesting work by the combine harvester 1. For example, the combine harvester 1 performs related tasks in the area outside the work area.

[0068] For example, the area setting unit 84 calculates an area S1 in which the combine harvester 1 cannot travel based on multiple position information 99 and contour 981P, and sets it as an area outside the scope of work.

[0069] Specifically, the region setting unit 84 determines whether or not a non-travelable region S1 exists inside the contour 981P.

[0070] Specifically, if a pointer 99P is located at a distance greater than a predetermined distance r1 from the contour 981P toward the inside of the field 98, the area setting unit 84 sets a no-travel area S1. In the example shown in Figure 5, three pointers 99P are located at a distance greater than a predetermined distance r1 from the contour 981P toward the inside of the field 98. The area setting unit 84 determines that the area enclosed by the three pointers 99P and the contour 981P is a no-travel area S1. The area setting unit 84 sets the no-travel area S1 as an area outside the scope of work.

[0071] Since the restricted area S1 is set based on the contour 981P and the trajectory of the combine harvester 1, no operation by the operator is required to set the restricted area S1. Therefore, the restricted area S1 can be set more easily.

[0072] Next, with reference to Figure 6, other various areas set in this embodiment will be described. Figure 6 is a diagram showing an example of various areas displayed on the display unit 73.

[0073] For example, the area setting unit 84 sets the trajectory of the combine harvester 1 as it travels while harvesting unharvested grain stalks as part of the completed work area. Specifically, the area setting unit 84 determines, based on the detection results of the harvesting sensor 68, whether or not the combine harvester 1 has harvested unharvested grain stalks along the manually driven path. In the example shown in Figures 4 to 6, the area setting unit 84 sets the trajectory traveled to set the contour 981P as part of the completed work area. The completed work area is included in the work target area.

[0074] The display processing unit 86 overlays the completed area image 91P, which indicates the completed area set by the area setting unit 84, onto the map image MP on the display unit 73.

[0075] Furthermore, the area setting unit 84 sets an unworked area based on the contour 981P and the worked area. The unworked area indicates the area where unharvested grain stalks exist. Specifically, the area setting unit 84 sets the area inside the contour 981P, excluding the worked area, as the unworked area. The unworked area is included in the work target area.

[0076] The display processing unit 86 overlays the unworked area image 92P, which indicates the unworked area set by the area setting unit 84, onto the map image MP on the display unit 73.

[0077] Furthermore, the area setting unit 84 sets an automatic driving determination line 93P inside the contour 981P. The automatic driving determination line 93P is a determination line for determining whether or not the combine harvester 1 is capable of starting automatic driving. If the combine harvester 1 manually moves inward from the automatic driving determination line 93P while harvesting unharvested grain stalks, it is determined that the combine harvester 1 is capable of starting automatic driving. In other words, if the work area of ​​the combine harvester 1 extends inward from the automatic driving determination line 93P, it is determined that the combine harvester 1 is capable of automatic driving.

[0078] The position and size of the automatic driving determination line 93P are determined, for example, based on the vehicle width d and turning performance of the combine harvester 1. The area inside the outline 981P of the field 98 and outside the automatic driving determination line 93P is the area required as a headland when performing automatic driving. The headland is used as a space for the combine harvester 1 to turn around and change direction. The headland is also used as a space for the combine harvester 1 to move to a place where the harvested crops are unloaded onto a truck or the like (the relay area 95 described later). The headland is also used as a space for the combine harvester 1 to move to a place where it is refueled (the relay area 95 described later).

[0079] The display processing unit 86 overlays the automatic driving determination line 93P, which was set by the area setting unit 84, onto the map image MP of the display unit 73.

[0080] For example, the completed area image 91P, the uncompleted area image 92P, and the automatic driving determination line 93P are displayed with different colors from each other, so that the operator can identify each area.

[0081] Furthermore, the area setting unit 84 only needs to set at least the unworked area from among the worked area, the unworked area, and the automatic driving determination line.

[0082] The display processing unit 86 displays the route setting button image 901P and the start button image 902P, etc., overlaid on or alongside the map image MP of the display unit 73. The route setting button image 901P is an operation button for setting a travel route for the combine harvester 1 to an unworked area. The start button image 902P is an operation button for starting the automatic travel of the combine harvester 1. In Figure 6, the route setting button image 901P and the start button image 902P are in an inactive state and cannot be operated by the operator. Note that although the route setting button and the start button are images like the route setting button image 901P and the start button image 902P in Figure 6, they may also be hardware keys.

[0083] Furthermore, the area setting unit 84 sets the relay area 95 (see Figure 4), where relay operations are performed to allow the combine harvester 1 to continue harvesting, as an area outside the scope of work. Relay operations include, for example, the operation of unloading the crops harvested by the combine harvester 1 onto a truck, and the operation of refueling the combine harvester 1. Relay operations are just one example of related operations. The coordinates of the relay area 95 are stored in the storage unit 81.

[0084] For example, when setting up a relay area 95, the operator operates the control unit 74 of the mobile communication terminal 7 to select a location on the map image MP displayed on the display unit 73. The area setting unit 84 obtains the coordinates of the location selected by the operator from the control unit 74. Based on the obtained coordinates and the contour 981P, the area setting unit 84 determines whether the coordinates of the selected location are located inside or outside the contour 981P. If the coordinates of the selected location are located outside the contour 981P, the area setting unit 84 sets a predetermined area including the selected location as the relay area 95.

[0085] In this embodiment, the relay area 95 may be set by the operator. The relay area 95 set by the operator is, for example, at least one side of the multiple sides that make up the field 98. Alternatively, the relay area 95 may be at least one point on a side, rather than the entire side. The area setting unit 84 obtains the coordinates of the point or side selected by the operator from the operation unit 74 and sets the selected point or side as the relay area 95.

[0086] Furthermore, the area setting unit 84 sets the entrance EX1 (see Figure 4) of the field 98 as an area not subject to work. At entrance EX1, an entry operation is performed to allow the combine harvester 1 to enter the field 98. The entry operation is an example of related operations associated with harvesting. For example, the area setting unit 84 calculates the coordinates at which the combine harvester 1 has passed through the contour 981P based on multiple position information 99 and the contour 981P. The area setting unit 84 sets a predetermined area including the point indicated by the calculated coordinates as entrance EX1. In the example shown in Figure 4, entrance EX1 is the upper right corner of the contour 981P. The shape and size of entrance EX1 are determined, for example, based on the vehicle width d of the combine harvester 1. In the example shown in Figure 4, the shape of the entrance image EX1P is approximately rectangular. The coordinates of entrance EX1 are stored in the storage unit 81.

[0087] Entrance EX1 may also be set by the operator. When an operator sets entrance EX1, the operator operates the operation unit 74 of the mobile communication terminal 7 to select the point corresponding to entrance EX1 in the map image MP displayed on the display unit 73. The area setting unit 84 obtains the coordinates of the point selected by the operator from the operation unit 74 and sets a predetermined area including the selected point as entrance EX1.

[0088] [Identification Image] In this embodiment, the display processing unit 86 displays an identification image for the worker to identify areas not to be worked on, and a field image 98P on the display unit.

[0089] As shown in Figure 6, for example, the display processing unit 86 overlays an image S1P of a restricted area, which indicates a restricted area S1, onto the map image MP of the display unit 73. Specifically, the display processing unit 86 obtains the coordinates of the restricted area S1 set by the area setting unit 84. The display processing unit 86 displays the image S1P of the restricted area at the position indicated by the obtained coordinates in the map image MP.

[0090] Furthermore, the display processing unit 86 overlays the no-go area identification image 94A, which indicates the no-go area S1, onto the no-go area image S1P. The no-go area identification image 94A is an example of an identification image. The identification image is displayed as, for example, a pin or an icon. For example, the no-go area identification image 94A includes a picture depicting a "no entry" sign.

[0091] Furthermore, the display processing unit 86 overlays an entrance image EX1P, which indicates the entrance EX1 of the field 98, onto the map image MP of the display unit 73. Specifically, the display processing unit 86 obtains the coordinates of the entrance EX1 stored in the storage unit 81. The display processing unit 86 displays the entrance image EX1P at the position indicated by the obtained coordinates in the map image MP. The shape and size of the entrance image EX1P are determined, for example, according to the shape and size of the entrance EX1.

[0092] Furthermore, the display processing unit 86 overlays an entrance identification image 94B, which indicates entrance EX1, onto the entrance image EX1P. The entrance identification image 94B is an example of an identification image. For example, the entrance identification image 94B includes the word "EXIT" which indicates an entrance.

[0093] Furthermore, the display processing unit 86 overlays the relay area image 95P, which represents the relay area 95, onto the map image MP on the display unit 73. The display processing unit 86, for example, obtains the coordinates of the relay area 95 stored in the storage unit 81. The display processing unit 86 displays the relay area image 95P at the position indicated by the obtained coordinates. In the example shown in Figure 6, the shape of the relay area image 95P is approximately rectangular.

[0094] Furthermore, the display processing unit 86 overlays a relay area identification image 94C, which indicates the relay area 95, onto the relay area image 95P. The relay area identification image 94C is an example of an identification image. For example, the relay area identification image 94C includes a picture depicting a "silo".

[0095] As described above, various non-working areas are set based on the trajectory traveled by combine harvester 1, and identification images are added to the images indicating these non-working areas, making it easier for workers to visually identify each non-working area both inside and outside the field.

[0096] For example, by adding an image 94A identifying a restricted area to an image S1P identifying a restricted area, it becomes easier for the operator to recognize the restricted area S1; by adding an entrance identification image 94B to an entrance image EX1P, it becomes easier for the operator to recognize the entrance EX1; and by adding an intermediate area identification image 94C to an intermediate area image 95P, it becomes easier for the operator to recognize the intermediate area 95.

[0097] The display format of the identification image is not limited to the above. Specifically, the characters or images included in the identification image are not particularly limited. Furthermore, the color, pattern, design, font, and size of the characters or images included in the identification image are not particularly limited.

[0098] For example, the display format of the identification image can be changed by an operator's modification operation. This modification operation involves the operator instructing the operation unit 74 of the mobile communication terminal 7 to change the display format of the identification image.

[0099] Specifically, when an operator performs a change operation, the operator selects an arbitrary identification image from among the identification images displayed on the display unit 73. The identification image selected by the operator is called the selected identification image. For example, if the operator taps the restricted area identification image 94A, one of the restricted area identification images 94A, entrance identification image 94B, and relay area identification image 94C displayed on the display unit 73, the tapped restricted area identification image 94A is selected as the selected identification image. The display processing unit 86 then displays a settings screen that allows the operator to set the display format of the selected identification image. For example, if the operator taps and selects one of the various settings displayed on the settings screen, the display processing unit 86 displays the restricted area identification image 94A on the display unit 73 that reflects the selected settings.

[0100] In this embodiment, the display format of the identification image includes, for example, a highlighting display that emphasizes the selected identification image more than other identification images. The highlighting display includes, for example, a blinking display. Specifically, when the operator selects a setting to highlight from among the various settings displayed on the setting screen, the display processing unit 86 highlights the identification image. By highlighting the identification image, it is possible to more easily draw the operator's attention to the area corresponding to the highlighted identification image.

[0101] Next, with reference to Figures 2, 3, and 6, the mileage display shown on the display unit 73 will be explained.

[0102] In this embodiment, the mobile communication terminal 7 displays to the worker the distance at which harvesting work can be continued by the combine harvester 1, based on the detection results of the harvest amount sensor 69 installed on the combine harvester 1.

[0103] For example, the harvest information acquisition unit 87 shown in Figure 3 acquires the harvest yield information generated by the control unit 50 shown in Figure 2. For example, the control unit 50 transmits the generated harvest yield information to the mobile communication terminal 7 via the communication processing unit 65 and the communication antenna 63.

[0104] The harvest information acquisition unit 87 receives and acquires harvest amount information transmitted from the combine harvester 1 via the communication antenna 71 and the communication processing unit 72.

[0105] The calculation unit 88 calculates the storage amount, which indicates the amount of grain stored in the grain tank 400, based on the harvest yield information acquired by the harvest information acquisition unit 87. Specifically, the calculation unit 88 calculates the storage amount by sequentially accumulating the harvest yield information acquired by the harvest information acquisition unit 87.

[0106] The calculation unit 88 calculates the remaining capacity of the grain tank 400 based on the capacity and amount of stored grain in the grain tank 400. The remaining capacity is calculated by subtracting the amount of stored grain from the capacity. The capacity of the grain tank 400 is stored, for example, in the memory unit 55 or the control unit 80.

[0107] Furthermore, the calculation unit 88 calculates the travelable distance D1 that the combine harvester 1 can travel until the stored amount reaches the tank's capacity, based on the remaining capacity of the grain tank 400 and the harvestable amount information, which indicates the amount of grain harvested when the combine harvester 1 travels a unit distance. The harvestable amount information is stored, for example, in the storage unit 55 or the control unit 80. The harvestable amount information may also be calculated by the calculation unit 88. For example, the calculation unit 88 calculates the travel distance of the combine harvester 1 based on a plurality of position information 99. The calculation unit 88 calculates the harvestable amount information by dividing the stored amount by the travel distance.

[0108] The calculation unit 88 calculates the drivable distance D1 by dividing the remaining capacity by the harvestable amount information.

[0109] As shown in Figure 6, the display processing unit 86 overlays a message image MSG1, which shows the remaining drivable distance D1 calculated by the calculation unit 88, onto the map image MP on the display unit 73. The message image MSG1 shown in Figure 6 includes the message "Harvest remaining D1 m". Note that the message included in the message image MSG1 is not limited to the message shown in Figure 6. In addition to the message image MSG1, the display processing unit 86 may also display a meter image or the like showing the remaining drivable distance D1 on the display unit 73. By displaying the remaining drivable distance D1 on the display unit 73, the worker can visually confirm the distance over which they can continue harvesting. Therefore, the efficiency of harvesting work is improved.

[0110] Next, with reference to Figures 6 to 9, the method for setting the automatic driving start position according to this embodiment will be described. Figure 7 is a diagram showing an example of the screen displayed on the display unit 73 during manual driving. Figure 8 is a diagram showing an example of the driving route 905P for automatic driving. Figure 9 is a diagram showing an example of the screen displayed on the display unit 73 during automatic driving.

[0111] After setting the contour 981P and various identification images, the operator resumes harvesting work by manually driving the machine. The area setting unit 84 periodically updates the size of the worked area and the unworked area based on the position information 99 acquired by the vehicle position acquisition unit 85. The display processing unit 86 displays the worked area image 91P and the unworked area image 92P updated by the area setting unit 84 on the display unit 73. The display processing unit 86 also updates the display position of the icon C1 indicating the current position of the combine harvester 1 based on the position information 99 acquired by the vehicle position acquisition unit 85.

[0112] In Figure 6, the operator completes one lap of mowing to set the outline 981P of field 98 by manual driving. In the following Figure 7, the operator completes one lap (two laps if you include the lap to set the outline 981P) of mowing to generate headlands by manual driving. By repeating the lap mowing in an inward spiral, the worked area shown in the worked area image 91P expands, and the unworked area shown in the unworked area image 92P shrinks. On the other hand, the position and size of the automatic driving determination line 93P do not change. Note that for the laps to generate headlands from the second lap onward, automatic driving may be performed only in a straight line.

[0113] The display processing unit 86 activates the route setting button image 901P so that the operator can operate it when the combine harvester 1 travels inside the automatic travel determination line 93P. Alternatively, the display processing unit 86 may activate the route setting button image 901P when the work area of ​​the combine harvester 1 extends inside the automatic travel determination line 93P. In Figure 7, the route setting button image 901P is in the active state.

[0114] In the example shown in Figure 8, the combine harvester 1 completes its second round of mowing, and the operator selects the route setting button image 901P. When the route setting button image 901P is selected, the start position setting unit 89 sets the corner of the unworked area closest to the combine harvester 1's position as the automatic driving start position, based on the position information 99 acquired by the vehicle position acquisition unit 85. The route setting unit 90 sets an automatic driving route 905P for the unworked area, including the automatic driving start position.

[0115] For example, the start position setting unit 89 sets the corner 921P, which is closest to the position of the combine harvester 1 indicated by icon C1, from among the multiple corners 921P to 924P of the unworked area shown in the unworked area image 92P, as the automatic driving start position. In this embodiment, there are four corners because the unworked area is rectangular, but the number of corners changes depending on the shape of the unworked area.

[0116] Since the automatic driving start position is set based on the unworked area and the position of combine harvester 1, there is no need for an operator to set the automatic driving start position. Therefore, the automatic driving start position can be set more easily, and automatic driving can be started more easily.

[0117] The route setting unit 90 sets the automatic driving route 905P with the corner 921P as the automatic driving start position. For example, the route setting unit 90 sets the start position "S" to a position shifted inward from the corner 921P, which is the automatic driving start position, by half the width d of the vehicle, within the unworked area. Then, the route setting unit 90 sets the automatic driving route 905P from the start "S" to the goal "G" within the unworked area, based on the vehicle width d, etc.

[0118] The route setting unit 90 should set the travel route 905P so that the unworked area is located to the left of the combine harvester 1. That is, the route setting unit 90 should set the travel route 905P to be counterclockwise. The travel route 905P for automatic travel includes a straight path where harvesting work is performed while traveling, and a free-travel path where the vehicle moves from one straight path to another while turning, etc. The route setting unit 90 should set a straight path along the row direction. The route setting unit 90 may also include information regarding the operation or stoppage of harvesting work, harvesting speed, harvesting height, and other work at each position on the travel route 905P in the travel route 905P.

[0119] The display processing unit 86 overlays the travel route 905P set by the route setting unit 90 onto the map image MP on the display unit 73. In Figure 8, the travel route 905P is an arrow displayed overlaid on the unworked area image 92P. The display processing unit 86 also displays the letter "S" at the start position and the letter "G" at the end position of the travel route 905P. The display processing unit 86 may also display the straight-line route and the idle route with different display colors or other means so that the operator can distinguish between the two routes. The display processing unit 86 may also display a strip direction image 906P on the display unit 73 that indicates the direction of the strip in the unworked area. In the example in Figure 8, the strip direction image 906P is an arrow indicating the direction of the strip, but it is not limited to this.

[0120] In the example shown in Figure 8, the route setting unit 90 has set a round-cutting route 905P, but it may also set a back-and-forth cutting route 905P. Whether the route setting unit 90 sets a back-and-forth cutting route 905P or a round-cutting route 905P can be specified by the operator in advance or when operating the route setting button image 901P. In addition, the information necessary for setting the route 905P, such as the vehicle width d of the combine harvester 1, the turning radius, the row direction, and whether or not it can handle extra rows, can be specified by the operator in advance or when operating the route setting button image 901P.

[0121] The travel route 905P set by the route setting unit 90 is transmitted to the combine harvester 1 by the communication processing unit 72. The communication processing unit 65 of the combine harvester 1 receives the travel route 905P transmitted by the mobile communication terminal 7.

[0122] When a travel route 905P for automatic driving is set, the display processing unit 86 activates the route setting button image 901P and the start button image 902P so that the operator can operate them. If the route setting button image 901P is selected, the route setting unit 90 resets the travel route 905P. The travel route 905P reset by the route setting unit 90 is transmitted to the combine harvester 1 by the communication processing unit 72.

[0123] The operator manually moves the combine harvester 1 to the start "S" position on the automatic travel route 905P displayed on the display unit 73. After moving the combine harvester 1 to the start "S" position, the operator selects the start button image 902P to start the automatic travel of the combine harvester 1. As described above, by setting the start position setting unit 89 to the corner 921P closest to the combine harvester 1 as the automatic travel start position, unnecessary travel such as turning, reversing, or taking detours by the combine harvester 1 can be suppressed, and the combine harvester 1 can be smoothly guided to the corner 921P, that is, to the start "S" on the travel route 905P.

[0124] When the start button image 902P is selected, the communication processing unit 72 instructs the combine harvester 1 to start automatic driving. When the communication processing unit 65 of the combine harvester 1 receives the instruction to start automatic driving, the control unit 50 makes the combine harvester 1 automatically drive according to the automatic driving route 905P received from the mobile communication terminal 7 and performs the harvesting work.

[0125] While the combine harvester 1 is automatically driving and performing harvesting work, the area setting unit 84 periodically updates the sizes of the worked area and the unworked area based on the position information 99 acquired by the vehicle position acquisition unit 85. The display processing unit 86 displays the worked area image 91P and the unworked area image 92P updated by the area setting unit 84 on the display unit 73. The display processing unit 86 also updates the display position of the icon C1 indicating the current position of the combine harvester 1 based on the position information 99 acquired by the vehicle position acquisition unit 85.

[0126] In Figure 9, combine harvester 1 is performing harvesting work while automatically traveling along the travel path 905P. When combine harvester 1 is traveling automatically, the display processing unit 86 deactivates the route setting button image 901P so that the operator cannot operate it. The display processing unit 86 also changes the start button image 902P to the stop button image 903P. Furthermore, the display processing unit 86 activates the stop button image 903P so that the operator can operate it. The stop button image 903P is an operation button used to stop the automatic travel of combine harvester 1.

[0127] If the stop button image 903P is selected, the communication processing unit 72 instructs the combine harvester 1 to stop automatic operation. When the communication processing unit 65 of the combine harvester 1 receives the instruction to stop automatic operation, the control unit 50 stops the automatic operation and harvesting work of the combine harvester 1.

[0128] In the above example, the starting position setting unit 89 set the automatic travel start position when the combine harvester 1 traveled inside the automatic travel determination line 93P, or when the completed work area extended inside the automatic travel determination line 93P, but the example is not limited to this example.

[0129] For example, the start position setting unit 89 may set the automatic driving start position when the combine harvester 1 has finished traveling along the entire automatic driving determination line 93P. Alternatively, the start position setting unit 89 may set the automatic driving start position when the combine harvester 1 has traveled to at least one point on the automatic driving determination line 93P.

[0130] Furthermore, for example, the start position setting unit 89 may set the automatic driving start position when the entire automatic driving determination line 93P is included in the completed area. Alternatively, the start position setting unit 89 may set the automatic driving start position when at least a part of the automatic driving determination line 93P is included in the completed area.

[0131] Furthermore, for example, the start position setting unit 89 may set the automatic driving start position when it receives a predetermined input signal. Specifically, the start position setting unit 89 sets the corner closest to the position information 99 based on the position information 99 received from the operation unit 74 when it receives an input signal indicating that the route setting button image 901P has been selected, as the automatic driving start position. In Figure 8, if the combine 1 is located at the position indicated by icon C1, and the route setting button image 901P is selected in this case, the start position setting unit 89 sets the corner 921P closest to icon C1 as the automatic driving start position.

[0132] The starting position setting unit 89 may combine multiple conditions for setting the automatic driving start position. For example, the starting position setting unit 89 may set the automatic driving start position when the combine 1 is traveling inside the automatic driving determination line 93P and the route setting button image 901P is selected.

[0133] Alternatively, for example, the starting position setting unit 89 may set the starting position of the automatic travel among the multiple corners 921P to 924P of the unworked area shown in the unworked area image 92P, which are located in the direction of travel of the combine harvester 1 shown by icon C2 (see Figure 8), and which are closest to the position of the combine harvester 1. The direction of travel of the combine harvester 1 shown by icon C2 is the direction shown by the arrow near icon C2 (left direction on the page of Figure 8). In this case, if the closest corner 921P is set as the starting position of automatic travel, the combine harvester 1 will need to return from the position of icon C2 to corner 921P in order to start automatic travel, which will require unnecessary travel such as turning, reversing, or taking a detour before automatic travel can begin. In contrast, in the direction of travel of the combine harvester 1, there are corners 922P, 923P, 924P, and 921P in order of proximity to the combine harvester 1. The starting position setting unit 89 sets the nearest corner 922P in the direction of travel as the automatic starting position, allowing the combine harvester 1 to move smoothly towards the corner 922P without unnecessary travel.

[0134] Furthermore, for example, the starting position setting unit 89 may set the starting position of the automatic travel among the multiple corners 921P to 924P of the unworked area shown in the unworked area image 92P, which are located to the left of the combine harvester 1 shown by icon C1, and which are the corner closest to the position of the combine harvester 1. The starting position setting unit 89 sets the starting position of the automatic travel among the corners 921P and 923P where the unworked area is located to the left of the combine harvester 1, which is the corner 921P closer to the combine harvester 1 shown by icon C1. As a result, when a counterclockwise travel path 905P as shown in Figure 8 is set, the combine harvester 1 can move smoothly towards corner 921P without unnecessary travel.

[0135] The display processing unit 86 may highlight the corner 921P closest to the combine harvester 1, as selected by the starting position setting unit 89, on the display unit 73. The method of highlighting the corner 921P should be such that the operator can recognize the corner 921P as the automatic travel start position. For example, the display processing unit 86 may display the words or image of "automatic travel start position" near the corner 921P, display an icon or pin, or surround the corner 921P with a circular frame. This makes it easier for the operator to manually move the combine harvester 1 to the automatic travel start position.

[0136] In the above example, the start position setting unit 89 automatically set the corner 921P closest to the combine harvester 1 as the automatic travel start position, but the system is not limited to this example. For example, the operator may be able to select the automatic travel start position. In this case, the display processing unit 86 displays the corner 921P closest to the combine harvester 1, selected by the start position setting unit 89, on the display unit 73 as a candidate for the automatic travel start position. The operator checks the candidate for the automatic travel start position displayed on the display unit 73 and operates the operation unit 74 to approve or reject the candidate. If the candidate is approved, the start position setting unit 89 sets the approved candidate as the automatic travel start position. On the other hand, if the candidate is rejected, the start position setting unit 89 may, for example, have the operator select an arbitrary automatic travel start position. Alternatively, the start position setting unit 89 may, for example, select the second closest corner to the combine harvester 1 as a candidate for the automatic travel start position and confirm it with the operator.

[0137] When allowing the operator to select the automatic travel start position, the display unit 73 displays a strip direction image 906P, enabling the operator to select the automatic travel start position while considering the strip direction of the unworked area. This further enhances the operator's convenience.

[0138] While the combine harvester 1 is automatically traveling and performing harvesting work, the route setting unit 90 may set a discharge route. The route setting unit 90 compares, for example, the travelable distance D1 calculated by the calculation unit 88 with the distance from the current position of the combine harvester 1 to the relay area 95 (hereinafter referred to as the relay distance). If the travelable distance D1 is less than the relay distance, the route setting unit 90 sets a discharge route connecting any position on the travel route 905P to the relay area 95. The communication processing unit 72 transmits the discharge route set by the route setting unit 90 to the combine harvester 1. The communication processing unit 65 of the combine harvester 1 receives the discharge route transmitted by the mobile communication terminal 7. The control unit 50 causes the combine harvester 1 to deviate from the travel route 905P for automatic travel and to automatically travel according to the discharge route received from the mobile communication terminal 7 towards the relay area 95. The position where the combine harvester deviates from the travel route 905P for automatic travel is referred to as the "return position". The worker discharges the grain from the grain tank 400 in the relay area 95.

[0139] When the combine harvester 1 completes its discharge operation, the route setting unit 90 may set a return route. For example, the route setting unit 90 sets a route connecting the relay area 95 to the return position as the return route. The communication processing unit 72 transmits the return route set by the route setting unit 90 to the combine harvester 1. The communication processing unit 65 of the combine harvester 1 receives the return route transmitted by the mobile communication terminal 7. The control unit 50 makes the combine harvester 1 automatically travel along the return route received from the mobile communication terminal 7 and directs it toward the return position located on the automatic travel route 905P. After reaching the return position, the combine harvester 1 resumes harvesting while automatically traveling along the automatic travel route 905P.

[0140] The combine harvester 1 may also travel back and forth between the automatic travel path 905P and the intermediate area 95 by manual operation. When the combine harvester 1 returns from the intermediate area 95 to the unworked area by manual operation, the start position setting unit 89 may reset the corner of the unworked area closest to the position of the combine harvester 1 as the automatic travel start position. The route setting unit 90 may also reset the automatic travel path 905P, including the automatic travel start position.

[0141] Next, with reference to Figure 10, the method for setting the automatic driving start position according to this embodiment will be described. Figure 10 is a flowchart showing the method for setting the automatic driving start position according to this embodiment.

[0142] First, the vehicle position acquisition unit 85 acquires the position information 99 of the combine harvester 1 (step S11).

[0143] The field contour setting unit 83 sets the contour 981P of the field 98 based on a plurality of position information 99 acquired by the vehicle position acquisition unit 85 (step S12).

[0144] The area setting unit 84 sets an area outside the field 98, either inside or outside the field 98, based on the contour 981P, indicating an area not subject to harvesting by the combine harvester 1. The area setting unit 84 also sets a completed area and an uncompleted area inside the field 98 based on multiple position information 99 acquired by the vehicle position acquisition unit 85, and updates this periodically. The area setting unit 84 also sets an automatic driving determination line 93P inside the contour 981P (step S13).

[0145] The display processing unit 86 displays an identification image on the display unit 73 to identify areas not to be worked on. For example, if a non-travelable area S1 is set, the display processing unit 86 displays a non-travelable area identification image 94A on the display unit 73. The display processing unit 86 also displays a completed area image 91P to identify areas that have been worked on, and an unworked area image 92P to identify areas that have not yet been worked on, on the display unit 73 (step S14). In addition, the display processing unit 86 may also display a route setting button image 901P, a start button image 902P, and a direction image 906P on the display unit 73.

[0146] When a predetermined condition is met, the starting position setting unit 89 sets the corner of the unworked area 921P to 924P that is closest to the combine harvester 1's position as the automatic travel start position based on the position information 99 (step S15). The predetermined condition is met, for example, when the combine harvester 1 travels inside the automatic travel determination line 93P.

[0147] The route setting unit 90 sets a travel route 905P for automatic travel, including the automatic travel start position, for the unworked area (step S16). The communication processing unit 72 transmits the travel route 905P for automatic travel to the combine harvester 1. The display processing unit 86 displays the travel route 905P for automatic travel on the display unit 73.

[0148] The operator moves the combine harvester 1 to the start position "S" of the travel path 905P and selects the start button image 902P. When the start button image 902P is selected, the communication processing unit 72 instructs the combine harvester 1 to start automatic travel. When the communication processing unit 65 of the combine harvester 1 receives the instruction to start automatic travel, the control unit 50 performs harvesting work while the combine harvester 1 automatically travels along the travel path 905P for automatic travel (step S17).

[0149] Embodiments of the present invention have been described above with reference to the drawings (Figures 1 to 10). However, the present invention is not limited to the embodiments described above, and can be implemented in various forms without departing from its spirit. Furthermore, the multiple components disclosed in the above embodiments can be modified as appropriate. For example, some components from all the components shown in one embodiment may be added to the components of another embodiment, or some components from all the components shown in one embodiment may be deleted from the embodiment.

[0150] Furthermore, the drawings schematically show each component in order to facilitate understanding of the invention, and the thickness, length, number, spacing, etc. of each component shown may differ from the actual dimensions due to the convenience of drawing creation. Also, the configuration of each component shown in the above embodiments is merely an example and is not particularly limiting, and it goes without saying that various modifications are possible without substantially departing from the effects of the present invention. [Industrial applicability]

[0151] This invention can be used in work vehicles such as combine harvesters that are capable of autonomous driving. [Explanation of symbols]

[0152] 1. Combine harvester (work vehicle) 7. Mobile communication terminals 73 Display section 80 Control Unit 83 Field contour setting section 84 Area setting section 85 Vehicle position acquisition unit 89 Start position setting section 90 Route setting section 91P Working Area Image 92P Unworked Area Image 93P Automatic Driving Detection Line 98 fields 99 Location information 905P Route 906P directional image 921P, 922P, 923P, 924P Corner 981, 981P Outline

Claims

1. A vehicle position acquisition unit that acquires position information indicating the location of the work vehicle, A field contour setting unit sets the contour of the field based on multiple location information, A region setting unit sets an unworked area inside the contour based on multiple pieces of positional information, A route setting unit sets a route for automatic driving, including the automatic driving start position, for the aforementioned unworked area, Based on the aforementioned position information, before the travel path for automatic driving is set, a start position setting unit sets the corner of the unworked area closest to the position of the work vehicle as the automatic driving start position, among a plurality of corners of the unworked area. A control device equipped with the following features.

2. A vehicle position acquisition unit that acquires position information indicating the position of a work vehicle, A field contour setting unit sets the contour of the field based on multiple location information, A region setting unit sets an unworked area inside the contour based on multiple pieces of positional information, Based on the aforementioned position information, the starting position setting unit sets the corner of the unworked area closest to the position of the work vehicle as the automatic driving start position. Equipped with, The area setting unit sets an automatic driving determination line inside the contour, The start position setting unit is a control device that sets the automatic driving start position when the work vehicle is driving inside the automatic driving determination line.

3. A vehicle position acquisition unit that acquires position information indicating the position of a work vehicle, A field contour setting unit sets the contour of the field based on multiple location information, A region setting unit sets an unworked area inside the contour based on multiple pieces of positional information, Based on the aforementioned position information, the starting position setting unit sets the corner of the unworked area closest to the position of the work vehicle as the automatic driving start position. Equipped with, The area setting unit sets an automatic driving determination line inside the contour and sets a completed work area inside the contour based on a plurality of position information. The start position setting unit is a control device that sets the automatic driving start position when the completed work area extends inside the automatic driving determination line.

4. The control device according to any one of claims 1 to 3, wherein the start position setting unit sets the automatic driving start position when it receives a predetermined input signal.

5. A vehicle position acquisition unit that acquires position information indicating the location of the work vehicle, A field contour setting unit sets the contour of the field based on multiple location information, A region setting unit sets an unworked area inside the contour based on multiple pieces of positional information, A route setting unit sets a route for automatic driving, including the automatic driving start position, for the aforementioned unworked area, Before the aforementioned driving path for automatic driving is set, a starting position setting unit sets the corner of the unworked area that is located in the direction of travel of the work vehicle and is closest to the corner in the direction of travel of the work vehicle as the automatic driving start position. A control device equipped with the following features.

6. The control device according to any one of claims 1 to 5, further comprising a display unit that displays information including the aforementioned unworked area.

7. The control device according to claim 6, wherein the display unit highlights the corner of the unworked area that is closest to the position of the work vehicle.

8. The control device according to claim 6 or 7, wherein the display unit displays the direction of the strips in the unworked area.

9. A work vehicle capable of manual and automatic driving, comprising a control device according to any one of claims 1 to 8.

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