Route generating method, route generating program, route generating system, and automatic traveling method

Abstract

[Project] To provide a path generation method, a path generation program, a path generation system, and an automatic driving method capable of improving work efficiency when work paths are connected at an obtuse angle. [Solution] A path generation method generates a target path that includes a first work path and a second work path that follows the first work path, and automatically drives a work vehicle. When the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the path generation method sets one of a first mode that generates a target path including a reverse path at the connection portion of the first work path and the second work path, and a second mode that generates a target path not including the reverse path at the connection portion.

Description

Technology Field

[0001] The present invention relates to a technology for generating a path for automatically driving a work vehicle. Background Technology

[0002] Conventionally, in packaging, a work vehicle (e.g., a combine) that performs a harvesting operation while driving automatically along a preset target path is known (see, for example, Patent Document 1). For example, when the first work path and the next second work path are connected at a right angle, the work vehicle moves to the second work path by driving a turning path including a reverse path at the connection point between the first work path and the second work path after the work on the first work path is finished. Prior art literature

[0003] Japanese Patent Publication No. 2024-81109 The problem to be solved

[0004] However, when the first work path and the second work path are connected at an obtuse angle (an angle formed by the first work path and the second work path that is greater than 90 degrees and less than 180 degrees), the distance traveled in reverse at the connection point becomes longer, and a problem arises in which work efficiency is reduced.

[0005] The objective of the present invention is to provide a path generation method, a path generation program, a path generation system, and an automatic driving method capable of improving work efficiency when work paths are connected at an obtuse angle. means of solving the problem

[0006] The path generation method according to the present invention is a method for generating a target path that automatically drives a work vehicle, comprising a first work path and a second work path that follows the first work path. When the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the path generation method sets one of a first mode for generating a target path that includes a reverse path at the connection portion of the first work path and the second work path, and a second mode for generating a target path that does not include the reverse path at the connection portion.

[0007] The path generation program according to the present invention is a program for generating a target path that automatically drives a work vehicle, comprising a first work path and a second work path following the first work path. The path generation program is a program for setting one or more of the following: a first mode for generating a target path that includes a reverse path at the connection portion of the first work path and the second work path when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, and a second mode for generating a target path that does not include the reverse path at the connection portion.

[0008] The path generation system according to the present invention includes a first work path and a second work path following the first work path, and is a system for generating a target path for automatically driving a work vehicle. When the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the path generation system sets one of a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path, and a second mode for generating a target path that does not include the reverse path at the connection portion.

[0009] The automatic driving method according to the present invention is a method of automatically driving a work vehicle along a target path, comprising a first work path and a second work path following the first work path. When the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the automatic driving method selects one of a first driving mode that drives a target path including a reverse path at the connection portion of the first work path and the second work path, and a second driving mode that drives a target path not including the reverse path at the connection portion. Effects of the invention

[0010] According to the present invention, a path generation method, a path generation program, a path generation system, and an automatic driving method can be provided that can improve work efficiency when work paths are connected at an obtuse angle. Brief explanation of the drawing

[0011] FIG. 1 is a functional block diagram showing the configuration of a driving system according to an embodiment of the present invention. FIG. 2 is an external view showing the configuration of a combine according to an embodiment of the present invention. FIG. 3 is a drawing showing an example of a target path set in a package according to an embodiment of the present invention. FIG. 4a is a drawing showing an example of the work sequence of a combine according to an embodiment of the present invention. FIG. 4b is a drawing showing an example of the work sequence of a combine according to an embodiment of the present invention. FIG. 4c is a drawing showing an example of the work sequence of a combine according to an embodiment of the present invention. FIG. 5a is a drawing showing an example of a corner cutting operation of a combine according to an embodiment of the present invention. FIG. 5b is a drawing showing an example of a corner cutting operation of a combine according to an embodiment of the present invention. FIG. 6a is a drawing showing an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. FIG. 6b is a drawing showing an example of a path creation result screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 7a is a drawing showing a specific example of the position (non-working height) of the cutting unit of a combine according to an embodiment of the present invention. FIG. 7b is a drawing showing a specific example of the position (intermediate height) of the cutting unit of a combine according to an embodiment of the present invention. FIG. 7c is a drawing showing a specific example of the position (working height) of the cutting unit of a combine according to an embodiment of the present invention. FIG. 8a is a drawing showing a specific example of a mowing operation in the outermost area of ​​a combine according to an embodiment of the present invention. FIG. 8b is a drawing showing a specific example of a mowing operation in the outermost area of ​​a combine according to an embodiment of the present invention. FIG. 8c is a drawing showing a specific example of a mowing operation in the outermost area of ​​a combine according to an embodiment of the present invention. FIG. 8d is a drawing showing a specific example of a mowing operation in the outermost area of ​​a combine according to an embodiment of the present invention. FIG. 8e is a drawing showing a specific example of a cutting operation in the outermost area of ​​a combine according to an embodiment of the present invention. FIG. 8f is a drawing showing a specific example of turning travel in the outermost region of a combine according to an embodiment of the present invention. FIG. 9 is a drawing showing the state in which the mowing operation of the outermost area of ​​the packaging according to an embodiment of the present invention is completed. FIG. 10 is a drawing showing an example of an unworked area of ​​the inner circumference of a package according to an embodiment of the present invention. FIG. 11a is a drawing showing an example of a driving method by a first mode according to an embodiment of the present invention. FIG. 11b is a drawing showing an example of a driving method by a first mode according to an embodiment of the present invention. FIG. 11c is a drawing showing an example of a driving method by a first mode according to an embodiment of the present invention. FIG. 12 is a drawing showing an example of a target path by a first mode according to an embodiment of the present invention. FIG. 13 is a drawing showing an example of a target path by a second mode according to an embodiment of the present invention. FIG. 14a is a drawing showing an example of a setting screen displayed on an operating terminal according to an embodiment of the present invention. FIG. 14b is a drawing showing the allowable connection angle according to an embodiment of the present invention. FIG. 15a is a drawing showing an example of a target path by a first mode according to an embodiment of the present invention. FIG. 15b is a drawing showing an example of a target path by a second mode according to an embodiment of the present invention. FIG. 16 is a flowchart showing an example of the sequence of the generation process of a target path executed by a driving system according to an embodiment of the present invention. FIG. 17a is a drawing showing an example of a method for setting a target position (forward gaze point) in a first mode according to an embodiment of the present invention. FIG. 17b is a drawing showing an example of a method for setting a target position (forward gaze point) in a second mode according to an embodiment of the present invention. FIG. 18 is a diagram showing an example of a method for generating a divided path according to an embodiment of the present invention. Specific details for implementing the invention

[0012] The following embodiments are examples of embodying the present invention and do not limit the technical scope of the present invention.

[0013] As an example of a work vehicle of the present invention, a combine (1) is described. As shown in FIG. 1, a driving system (10) according to an embodiment of the present invention includes a combine (1) and an operating terminal (3). The combine (1) and the operating terminal (3) can communicate through a communication network (N1). For example, the combine (1) and the operating terminal (3) can communicate through a mobile phone network, a packet network, or a wireless LAN.

[0014] The combine (1) is a work vehicle that performs agricultural work such as mowing in packaging. While the combine (1) performs work while driving, it also transmits GNSS information from the GNSS antenna mounted on the combine (1), that is, the self-position of the combine (1), to the control terminal (3) as measurement point data.

[0015] Additionally, the combine (1) can perform automatic driving according to a preset target path. Additionally, the combine (1) may be configured to drive manually in some areas of the pavement (e.g., the outermost area) and drive automatically in other areas (e.g., the inner area). Additionally, the combine (1) may be configured to receive various setting information from the control terminal (3) and perform automatic driving according to the setting information.

[0016] The control terminal (3) is a portable terminal capable of remotely controlling the combine (1), and is composed of, for example, a tablet terminal, a notebook PC, a smartphone, etc. In addition, a control device such as the control terminal (3) may be mounted on the combine (1).

[0017] The user (operator) can perform setting operations on various setting items (e.g., setting of an automatic driving route) on the control terminal (3). Additionally, the control terminal (3) displays information such as the work status and driving status of the combine (1) that is driving automatically. The operator can understand the work status and driving status on the control terminal (3).

[0018] FIG. 3 illustrates an example of a target path (R) set for a pavement (F). For example, a combine (1) performs a mowing operation while traveling along the outermost path (Re) in the outermost area (F0) that is the boundary side of the pavement (F) within the pavement (F), and performs a mowing operation while traveling along the inner path (Rf) in the inner area (F1) that is inside the outermost area (F0). The target path (R) includes the outermost path (Re) and the inner path (Rf). The combine (1) may perform driving and mowing operations along the outermost path (Re) according to manual operation (manual steering) by an operator, and may perform a mowing operation while automatically driving along the inner path (Rf). Additionally, the combine (1) may perform a mowing operation while automatically driving along the outermost path (Re) and the inner path (Rf).

[0019] In this embodiment, the combine (1) performs driving and cutting operations (corner cutting operations) on at least a part of the outermost path (Re) (corner part of the pavement (F)) according to manual operation by an operator, and performs cutting operations while automatically driving along the inner path (Rf) (automatic driving path) from the starting position (S) (automatic driving starting position) to the ending position (G) (automatic driving ending position) in the inner area (F1). Additionally, FIG. 3 shows a method of operation ("rotary cutting") in which the combine (1) performs cutting operations while driving around from the outer side to the inner side from the starting position (S) to the ending position (G), but as another embodiment, the combine (1) may perform cutting operations while driving back and forth from the starting position (S) to the ending position (G) ("reciprocal cutting").

[0020] An example of the operation sequence of the combine (1) is explained using FIG. 4. First, as shown in FIG. 4a, when the combine (1) starts driving at a predetermined location (e.g., a corner) of the packaging (F) according to the operator's operation, it drives while cutting the grain along the outer edge of the packaging (F) in the outermost area (F0). In addition, when the combine (1) threshes the cut grain, it discharges waste straw, such as straw scraps, to the outside from the rear of the machine. As a result, as shown in FIG. 4b, waste straw (B1) is accumulated in the driving trace of the combine (1), and a row of waste straw is formed in the path where the combine (1) has finished the cutting operation. Additionally, the combine (1) is configured to discharge the harvested waste straw from the grain at the location of the grain to be harvested, and is configured to allow identification of the location, width (horizontal width of the row of waste straw), length, etc. of the waste straw (B1). For example, the waste straw (B1) is discharged with a width narrower than the horizontal width of the machine, based on the center of the left and right directions of the combine (1).

[0021] When the combine (1) finishes the mowing operation in the outermost area (F0), it starts automatic driving and mowing operations from the starting position (S) in the inner area (F1), as shown in FIG. 4c. The combine (1) performs mowing operations while driving automatically along the inner path (Rf), and finishes the automatic driving and mowing operations when it reaches the end position (G).

[0022] Here, when the combine (1) performs a mowing operation, it changes direction (turns) at the corner of the pavement (F). For example, as shown in FIG. 5a, when the combine (1) mowing one side of the pavement (right side in FIG. 5a) in the A1 direction and then mowing the other side of the pavement (upper side in FIG. 5a) in the A2 direction, it changes the direction of the combine (1) from the A1 direction to the A2 direction at the corner (upper right corner in FIG. 5a). In this way, the combine (1) requires a turning area to move (turn) to the next path at each corner of the pavement (F).

[0023] To create the above turning area, when the combine (1) finishes the mowing operation in the A1 direction as shown in FIG. 5b (see FIG. 5a), it reverses to a predetermined position and stops, and at the corner, it changes its direction of travel and moves forward to perform mowing operations in an oblique direction. The combine (1) repeats forward and backward movement until it can secure an area where the direction of the vehicle body can be changed in the A2 direction to perform mowing operations at the corner (hereinafter referred to as corner mowing operations).

[0024] [Operation terminal (3)]

[0025] As shown in FIG. 1, the operation terminal (3) is an information processing device equipped with an operation control unit (31), a memory unit (32), an operation display unit (33), and a communication unit (34), etc. The operation terminal (3) is configured, for example, as a tablet terminal.

[0026] The communication unit (34) is a communication interface for connecting the operating terminal (3) to the communication network (N1) via wired or wireless connection and for executing data communication according to a predetermined communication protocol between one or more external devices, such as combines (1), through the communication network (N1).

[0027] The operation display unit (33) is a user interface equipped with 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, a mouse, or a keyboard, that receives operations. The operator can perform operations to register various setting information by operating the operation unit on a setting screen (not shown) displayed on the display unit. Additionally, the operator can perform automatic driving instructions for the combine (1) by operating the operation unit. Furthermore, the operator can determine the driving status of the combine (1) automatically driving within the packaging (F) by the driving trajectory displayed on the operation terminal (3) from a location away from the combine (1). Additionally, the operator can determine the work status displayed on the operation terminal (3) from a location away from the combine (1).

[0028] The memory unit (32) is a non-volatile memory unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various information. A control program for executing a predetermined process in the operation control unit (31) is stored in the memory unit (32). 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 by the operation terminal (3) and stored in the memory unit (32). In addition, 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 memory unit (32). In addition, the memory unit (32) may store work information transmitted from the combine (1).

[0029] Additionally, a dedicated application for automatically driving the combine (1) is installed in the memory unit (32). The operation control unit (31) activates the dedicated application to perform various setting information processing for the combine (1), instructions for automatic driving of the combine (1), etc.

[0030] The operation control unit (31) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory for various processes executed by the CPU. The operation control unit (31) controls the operation terminal (3) by executing various control programs stored in advance in the ROM or memory unit (32) on the CPU.

[0031] As shown in FIG. 1, the operation control unit (31) includes various processing units such as a setting processing unit (311), a generation processing unit (312), and an output processing unit (313). In addition, the operation control unit (31) functions as the various processing units by executing various processing according to the control program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the control program may be a program for making a plurality of processors function as the processing units.

[0032] The setting processing unit (311) sets various setting information for the combine (1) to perform automatic driving. Specifically, the setting processing unit (311) sets packaging information regarding the packaging (F). The packaging information includes, for example, the shape, size, and location information (coordinates, etc.) of the outermost edge of the packaging, measurement point data constituting the outermost edge of the packaging, and the shape, size, and location information (coordinates, etc.) of the work area within the packaging where work is performed on the packaging (F). In addition, the packaging information includes the address of the packaging (F), the registered name and date of the packaging information, and the registered name and date of the work area within the packaging. The setting processing unit (311) receives the registration operation of packaging information by an operator and sets the packaging information.

[0033] Additionally, the setting processing unit (311) sets the driving speed (vehicle speed) of the combine (1). For example, the operator can set the straight vehicle speed, turning vehicle speed, and reverse vehicle speed during operation and non-operation on the setting screen.

[0034] The setting processing unit (311) sets known information such as the type of combine (1) (maximum number of harvesting rows), vehicle width, and vehicle length in addition to the information described above. In addition, the setting processing unit (311) executes a process to set a generation mode (first mode or second mode) for generating a target path at the connection part between work paths. The method for setting the generation mode will be described later.

[0035] The generation processing unit (312) generates an automatic driving path for the combine (1) to perform a predetermined operation on a work target of the pavement (F). Specifically, the generation processing unit (312) generates a target path (R) (outermost path (Re) and inner path (Rf)) including a work path and a turning path. For example, the generation processing unit (312) generates an outermost path (Re) according to a registration operation during manual driving by an operator. For example, when an operator performs an operation to register two reference points (points A and B shown in FIG. 8a) while driving the combine (1) straight in the outermost area (F0) of the pavement (F), the generation processing unit (312) sets a straight line (reference line (L0)) passing through the two reference points as the outermost path (Re). The generation processing unit (312) sets an outermost path (Re) corresponding to each side of the outer perimeter of the pavement (F). The method of generating the outermost path (Re) is not limited to this, and the generation processing unit (312) may generate a path parallel to the outer edge of the pavement (F) as the outermost path (Re) when the shape of the pavement (F) is already registered, or may generate the outermost path (Re) based on the vehicle orientation when a predetermined operation is performed by an operator.

[0036] In addition, if the shape of the pavement (F) is not registered, the setting processing unit (311) may register the shape and size of the pavement (F) based on the driving trajectory (measurement point data) acquired while the operator is manually driving and mowing the combine (1). In addition, the setting processing unit (311) may register the shape and size of the pavement (F) based on the driving trajectory acquired while the operator is manually driving and mowing the combine (1) along the outermost path (Re).

[0037] Additionally, the operator selects a path pattern, a turning method (turning type), etc., on a setting screen (city omitted). The path pattern includes "rotational cutting," which repeats the strokes along the inner circumference of the inner circumference area (F1) while shifting them toward the center, and "reciprocating cutting," which performs multiple strokes in a reciprocating manner; the operator selects one of these path patterns. The turning type includes "small turning," which has a small turning radius, "large turning (soft)," which has a large turning radius, and "standard," which is in between; the operator selects one of these turning types. Additionally, the operator can adjust the turning radius on the setting screen. Additionally, the operator selects whether to perform corner cutting on the pavement (F) on the setting screen.

[0038] The generation processing unit (312) generates an inner path (Rf) (automatic driving path) from a starting position (S) to an ending position (G) based on information such as the packaging information, the path pattern, the turning type, the turning radius, the presence or absence of the corner cutting operation, and the generation mode (the first mode or the second mode described later). For example, when the cutting operation of the outermost area (F0) is finished, if the operator presses the path generation button (Ka) ("Create Auto Path") on the operation screen (D1) (see FIG. 6a), the generation processing unit (312) generates an inner path (Rf).

[0039] Additionally, the generation processing unit (312) may set the starting position (S) at the current position of the combine (1) when generating the internal path (Rf), or may set the starting position (S) at a position designated by the operator on the map.

[0040] When the generation processing unit (312) generates an internal path (Rf), it displays the generated path information on the path creation result screen (D2) (see FIG. 6b). Additionally, the generation processing unit (312) registers the generated internal path (Rf) by associating it with a package (F) (package registration name). Specific examples of the method for generating a target path (R) will be described later.

[0041] The output processing unit (313) outputs various setting information set by the setting processing unit (311) to the combine (1). Additionally, the output processing unit (313) outputs an automatic driving start instruction (work start instruction) and an automatic driving end instruction (work end instruction) to the combine (1) based on the operator's operation.

[0042] For example, when the combine (1) satisfies the conditions for starting automatic driving, that is, when the position of the combine (1) is within a predetermined distance from the starting position (S), the orientation of the combine (1) is within a predetermined angle with respect to the orientation of the work path, and other conditions for starting automatic driving are also satisfied, automatic driving is permitted. When automatic driving is permitted, the operator can perform an automatic driving start instruction operation on the operation terminal (3), and when the operation control unit (31) receives the automatic driving start instruction operation from the operator, the output processing unit (313) outputs the automatic driving start instruction to the combine (1). For example, when the operator starts automatic driving, the operator presses the automatic driving start operation button (Kb) on the path creation result screen (D2) (see FIG. 6b) or the start button on the operation screen (D1) (see FIG. 6a).

[0043] When the vehicle control device (11) of the combine (1) receives the automatic driving start instruction from the operation terminal (3), it initiates automatic driving and harvesting operations on the combine (1) and executes automatic driving and harvesting operations along the internal path (Rf) from the start position (S) to the end position (G). Additionally, when the operation control unit (31) receives the automatic driving stop instruction operation from the operator, the output processing unit (313) outputs the automatic driving stop instruction to the combine (1). Accordingly, the vehicle control device (11) receives the automatic driving stop instruction from the operation terminal (3). When the vehicle control device (11) receives the automatic driving stop instruction, it stops the automatic driving and harvesting operations of the combine (1).

[0044] Additionally, the operating terminal (3) may be able to access the website (agricultural support site) of the agricultural support service provided by the server (city omitted) via a communication network (N1). In this case, the operating terminal (3) can function as an operating terminal of the server by executing a browser program by the operation control unit (31). Furthermore, the server is equipped with each of the processing units described above and executes each processing.

[0045] [Combine (1)]

[0046] FIG. 2 shows an external view of a combine (1) viewed from the side. As shown in FIG. 1 and FIG. 2, the combine (1) is equipped with a threshing unit (4), a sorting unit (5), a waste straw processing unit (6), a power unit (8), a control unit (9), a vehicle control device (11), a memory unit (12), a positioning unit (13), a driving unit (14), a cutting unit (15) (an example of a working device of the present invention), a storage unit (16), a communication unit (17), etc. The combine (1) is driven by the driving unit (14), threshs the grain harvested by the cutting unit (15) in the threshing unit (4), sorts the grains in the sorting unit (5), and accumulates them in the storage unit (16). The combine (1) processes the waste straw after threshing by the waste straw processing unit (6). The combine (1) drives the driving unit (14), the cutting unit (15), the storage unit (16), the threshing unit (4), the sorting unit (5), and the waste straw processing unit (6) by power supplied by the power unit (8).

[0047] The driving unit (14) is installed below the body frame (29) and is equipped with a pair of left and right crawler-type driving devices (2) and a transmission (not shown). The driving unit (14) drives the combine (1) forward and backward or turns it left and right by rotating the crawler of the crawler-type driving device (2) by means of power (e.g., rotational power) transmitted from the engine (27) of the power unit (8). The transmission transmits power (rotational power) of the power unit (8) to the crawler-type driving device (2) and may also change the rotational power.

[0048] The cutting unit (15) is installed in front of the driving unit (14) and performs cutting operations on rows within the cutting capacity. The cutting unit (15) is equipped with a divider (28), a lifting device (20), a cutting device (23), a conveying device (7), and a cutting height detection device (40).

[0049] As shown in FIG. 7, the cutting height detection device (40) includes a device body (41), a grounding body (42), a detection sensor (not shown), etc., and detects the height (H) (see FIG. 2) of the cutting unit (15). For example, as shown in FIG. 7c, the detection sensor detects the amount of rotation of the device body (41) when the cutting unit (15) descends and the grounding body (42) comes into contact with the ground, and the cutting height detection device (40) detects the height (H) based on the detection signal of the detection sensor. The vehicle control device (11) (work processing unit (112)) adjusts the height (H) by operating the drive unit (hydraulic cylinder, etc.) of the cutting unit (15) so that the height (H) detected by the cutting height detection device (40) is maintained at a set height (work height (H1)). Additionally, FIG. 7a shows the height of the cutting section (15) of the combine (1) when not in operation (non-operational height (H0)), and FIG. 7b shows the height of the cutting section (15) of the combine (1) when in operation, and the height (intermediate height (H2)) at which waste straw (B1) can be avoided. In this way, the cutting section (15) is configured to be adjustable to the height when not in operation (non-operational height (H0)), the height when in operation (operational height (H1)), and the height between them (intermediate height (H2)). Additionally, the intermediate height (H2) may be a position set when not in operation or a position set when in operation.

[0050] The divider (28) divides the grains of the packaging (F) by minutes for each row and guides a predetermined number of grains within the harvestable row to the standing device (20). The standing device (20) raises the grains guided by the divider (28). The cutting device (23) cuts the grains raised by the standing device (20). The conveying device (7) conveys the grains cut by the cutting device (23) to the threshing unit (4).

[0051] The threshing unit (4) is installed at the rear of the mowing unit (15). The threshing unit (4) is equipped with a feed chain (18) and a feeder (19). The feed chain (18) conveys the grains conveyed from the conveying device (7) of the mowing unit (15) for threshing, and also conveys the grains after threshing, i.e., waste straw, to the waste straw processing unit (6). The feeder (19) threshs the grains conveyed by the feed chain (18).

[0052] The sorting unit (5) is installed below the threshing unit (4). The sorting unit (5) is equipped with a shaking sorting device (21), a blowing sorting device (22), a grain conveying device (not shown), and a straw crumb discharge device (not shown). The shaking sorting device (21) filters the threshed material dropped from the threshing unit (4) through a sieve to sort it into grains and straw crumbs. The blowing sorting device (22) further sorts the threshed material sorted by the shaking sorting device (21) into grains and straw crumbs by blowing air. The grain conveying device conveys the grain sorted by the shaking sorting device (21) and the blowing sorting device (22) to the storage unit (16). The straw crumb discharge device discharges the straw crumbs sorted by the shaking sorting device (21) and the blowing sorting device (22) to the outside.

[0053] The storage unit (16) is installed to the right of the threshing unit (4). The storage unit (16) is equipped with a storage tank (grain tank) (24) and a discharge device (25). The storage tank (24) stores grains that have been returned from the sorting unit (5). The discharge device (25) is composed of an auger, etc., and discharges the grains stored in the storage tank (24) to a transport vehicle at a predetermined discharge location within the packaging (F).

[0054] A waste straw processing unit (6) is installed at the rear of the threshing unit (4). The waste straw processing unit (6) is equipped with a waste straw conveying device (not shown) and a waste straw cutting device (not shown). The waste straw conveying device conveys waste straw conveyed from the feed chain (18) of the threshing unit (4) to the waste straw cutting device. The waste straw cutting device cuts the waste straw conveyed by the waste straw conveying device and discharges it outside the machine. The waste straw processing unit (6) discharges the harvested waste straw from the grain at the location of the grain to be harvested. In this way, the combine (1) harvests the grain while driving and discharges the waste straw (B1) to the rear outside the machine, so that the waste straw (B1) is accumulated in a row shape in the driving trace of the combine (1) (see FIG. 4b, etc.).

[0055] The power unit (8) is installed above the driving unit (14) and in front of the storage unit (16). The power unit (8) is equipped with an engine (27) that generates rotational power. The power unit (8) transmits the rotational power generated by the engine (27) to the driving unit (14), the harvesting unit (15), the storage unit (16), the threshing unit (4), the sorting unit (5), and the waste straw processing unit (6).

[0056] The control unit (9) is installed above the power unit (8). The control unit (9) is equipped with a steering wheel for directing the turning of the combine (1) body, a main speed lever and an auxiliary speed lever for directing the forward and backward speed change of the combine (1), and other operating mechanisms for controlling the driving of the combine (1) around the driver's seat, which is the seat where the operator sits. Manual driving of the combine (1) is executed by the driving unit (14) which receives the operation of the steering wheel, main speed lever, and auxiliary speed lever of the control unit (9). In addition, the control unit (9) is equipped with mechanisms for operating the cutting operation by the cutting unit (15), the threshing operation by the threshing unit (4), and the discharge operation by the discharge device (25) of the storage unit (16).

[0057] The positioning unit (13) acquires the self-position of the combine (1) using a satellite positioning system such as GPS. For example, the positioning unit (13) receives a positioning signal from a positioning satellite through a positioning antenna and acquires position information of the positioning unit (13), that is, the self-position of the combine (1) (measurement point data), based on the positioning signal. The positioning unit (13) may be composed of a quantum compass instead of a positioning antenna.

[0058] The communication unit (17) (see FIG. 1) is a communication interface for connecting the combine (1) to a communication network (N1) via wired or wireless connection and for performing data communication according to a predetermined communication protocol between the combine and an external device, such as an operating terminal (3), through the communication network (N1).

[0059] The memory unit (12) is a non-volatile memory unit, such as an HDD, SSD, or flash memory, that stores various information. A control program for executing a predetermined process on a vehicle control device (11) is stored in the memory unit (12). 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) and stored in the memory unit (12). In addition, the control program may be downloaded from a server (not shown) to the combine (1) via a communication network (N1) and stored in the memory unit (12). Furthermore, various setting information obtained from an operating terminal (3) is stored in the memory unit (12).

[0060] The vehicle control unit (11) has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various calculation processes. The ROM is a non-volatile memory unit in which control programs, such as BIOS and OS, for executing various calculation processes on the CPU are stored in advance. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory for various processes executed by the CPU. The vehicle control unit (11) controls the combine (1) by executing various control programs stored in advance in the ROM or memory unit (12) on the CPU.

[0061] Specifically, as shown in FIG. 1, the vehicle control device (11) includes various processing units such as a driving processing unit (111), a work processing unit (112), and a registration processing unit (113). In addition, the vehicle control device (11) functions as the various processing units by executing various processing according to the control program in the CPU. In addition, some or all of the processing units may be composed of electronic circuits. In addition, the control program may be a program for enabling a plurality of processors to function as processing units.

[0062] The driving processing unit (111) drives the combine (1) according to a target path (R) set for the pavement (F). Specifically, when the driving processing unit (111) is set to manual driving mode, it drives the combine (1) according to manual operation by an operator. For example, in the outermost area (F0) of the pavement (F) (see FIG. 3), the driving processing unit (111) drives the combine (1) straight along the outermost path (Re) according to the operator's forward / reverse switching operation, vehicle speed switching operation, etc. In addition, in the inner area (F1), the driving processing unit (111) drives the combine (1) automatically along the inner path (Rf) (automatic driving path) from the starting position (S) to the ending position (G).

[0063] The work processing unit (112) changes the position (position) of the cutting unit (15) based on the position of the combine (1) and performs a cutting operation on the cutting unit (15). Specifically, the work processing unit (112) changes the position (height) of the cutting unit (15) in stages (e.g., up and down) between the working height and the non-working height. For example, when the combine (1) reaches a position a predetermined distance ahead of the starting point of the work path, the work processing unit (112) sets the cutting unit (15) to the working height (H1) (see FIG. 7c), and when the combine (1) passes the end point of the work path, the cutting unit (15) sets the cutting unit (15) to the non-working height (H0) (see FIG. 7a). Additionally, the work processing unit (112) may be set to an intermediate height (H2) that prevents the waste straw (B1) from getting caught when the combine (1) passes through the waste straw (B1) (see FIG. 4b).

[0064] [Method for cutting corners in the outermost area (F0)]

[0065] Next, a specific example of a corner cutting operation in the outermost area (F0) of the pavement (F) will be described. The combine (1) performs a cutting operation on the corner of the pavement (F) while driving in the outermost area (F0) according to the operation of the operator.

[0066] For example, as shown in FIG. 8a, first, the operator boards the combine (1) and starts driving straight (manual driving) along the outer edge (right edge in FIG. 8a) of the work area of ​​the harvesting work, and at the same time, sets the harvesting unit (15) to a working height (H1) (see FIG. 7c) and starts the harvesting work. When the combine (1) has driven straight for a predetermined distance, the operator performs a registration operation to register the current position (point A) of the combine (1) on the control terminal (3). After that, when the combine (1) has driven straight for a predetermined distance from point A, the operator performs a registration operation to register the current position (point B) of the combine (1) on the control terminal (3). When the generation processing unit (312) acquires the registered points A and B, it generates a straight line (reference line (L0)) passing through points A and B.

[0067] When a reference line (L0) is created, the combine (1) becomes capable of automatic driving, and when the operator gives a command to start automatic driving, the combine (1) starts automatic driving in a straight direction along the reference line (L0). For example, when the operator shifts the main speed lever to the forward position, the combine (1) automatically drives in a forward direction along the reference line (L0) at a speed corresponding to the shift position. By doing so, the harvesting work on the outer edge (right side) (first stroke) of the work area can be performed.

[0068] Subsequently, when the combine (1) reaches the outer edge of the work area (upper edge in FIG. 8a), the operator shifts the main speed lever to a stop position (neutral position, etc.) to stop the automatic driving (stop). Additionally, the operator performs an operation to raise the cutting unit (15) to a non-working height (H0) to stop the cutting operation. When the combine (1) stops the automatic driving and cutting operation, the generation processing unit (312) generates an outer line (La) of the work area based on the stop position of the combine (1) (see FIG. 8b). For example, the generation processing unit (312) sets a straight line perpendicular to the reference line (L0) passing through the tip of the combine (1) (the tip of the cutting unit (15)) as the outer line (La). In another embodiment, the generation processing unit (312) may set an outer line (La) following the outer shape of the work area based on map information.

[0069] Subsequently, when the operator shifts the main speed lever to the reverse position, the combine (1) begins automatic driving in the reverse direction along the reference line (L0). Additionally, when the operator shifts the main speed lever to the reverse position, the generation processing unit (312) passes through the unworked area (uncut area) of the second stroke adjacent to the worked area (uncut area) of the outer edge (right side) (first stroke) and creates an inclined path (L1) inclined at a predetermined angle relative to the reference line (L0) (see FIG. 8b). The combine (1) automatically drives in the reverse direction along the reference line (L0) from the reverse start position (stop position) and stops automatic driving (stops) at the intersection point (Pa) of the reference line (L0) and the inclined path (L1) (see FIG. 8c). Additionally, the combine (1) may stop at the intersection point (Pa) so that the vehicle orientation matches the orientation of the inclined path (L1). In another embodiment, the combine (1) may reverse along the reference line (L0) and stop until it passes the intersection (Pa).

[0070] Next, when the operator performs an operation to lower the cutting unit (15) to a working height (H1) (see FIG. 7c) and shifts the main speed lever to the forward position, the combine (1) starts automatic driving and cutting work in the forward direction along the inclined path (L1). When the combine (1) travels along the inclined path (L1) and reaches the outer line (La), it stops the automatic driving (stops) (see FIG. 8d). Additionally, the operator performs an operation to raise the cutting unit (15) to a non-working height (H0) (see FIG. 7a) to stop the cutting work. By doing so, the cutting work in the area corresponding to the inclined path (L1) in the working area (second stroke) is completed (see FIG. 8d). Furthermore, when the remaining distance to the outer line (La) is less than a predetermined distance, the combine (1) may emit a buzzer sound to notify the operator that it has approached the outer line (La). In addition, the combine (1) may automatically stop when it reaches the outer line (La).

[0071] Subsequently, when the operator shifts the main speed lever to the reverse position, the combine (1) begins automatic driving in the reverse direction along the inclined path (L1). Additionally, when the operator shifts the main speed lever to the reverse position, the generation processing unit (312) passes through the unworked area (unharvested area) of the third stroke adjacent to the worked area (second stroke) corresponding to the inclined path (L1), and generates an inclined path (L2) inclined by a predetermined angle relative to the inclined path (L1) (see FIG. 8d). The combine (1) automatically drives in the reverse direction along the inclined path (L1) from the reverse start position (stop position) and stops automatic driving (stops) at the intersection point (Pb) of the inclined path (L1) and the inclined path (L2). Additionally, the combine (1) may stop at the intersection point (Pb) so that the vehicle orientation aligns with the orientation of the inclined path (L2). In another embodiment, the combine (1) may reverse along the inclined path (L1) and stop until it passes the intersection (Pb).

[0072] Next, when the operator performs an operation to lower the cutting unit (15) to a working height (H1) (see FIG. 7c) and shifts the main speed lever to the forward position, the combine (1) starts automatic driving and cutting work in the forward direction along the inclined path (L2). When the combine (1) reaches the outer line (La), it stops automatic driving (stops) (see FIG. 8e). Additionally, the operator performs an operation to raise the cutting unit (15) to a non-working height (H0) to stop the cutting work. By doing so, the cutting work in the area corresponding to the inclined path (L2) in the working area (third stroke) is completed (see FIG. 8e). Furthermore, when the remaining distance to the outer line (La) is less than a predetermined distance, the combine (1) may emit a buzzer sound to notify the operator that it has approached the outer line (La).

[0073] When the turning area necessary for the combine (1) to turn when moving to the next work path is secured at the corner (upper right corner) of the work area by the cutting operations of the first stroke, the second stroke, and the third stroke, the operator terminates the cutting operation at the corner of the work area and moves the combine (1) to the next work path. For example, when the operator shifts the main speed lever to the reverse position, the combine (1) starts automatic driving in the reverse direction along the inclined path (L2), the inclined path (L1), and the reference line (L0), and stops at a predetermined position on the reference line (L0). After that, the operator shifts the main speed lever to the forward position and moves the combine (1) to the next work path by turning in the work area by manual steering (see FIG. 8f).

[0074] When the combine (1) enters the next work path, the operator starts driving straight (manual driving) along the outer edge (upper edge in FIG. 8f) of the work area and starts the cutting operation, and performs a registration operation to register points A and B on the control terminal (3). By doing so, a reference line (L0) corresponding to the next work path is created. After that, the combine (1) performs the corner cutting operation of the corner section (upper left corner section) of the work area in the order described above according to the operator's operation. In the same way, the combine (1) performs the corner cutting operation of the lower left corner section and the lower right corner section of the work area according to the operator's operation.

[0075] When the corner cutting work of each corner of the work area is completed, the setting processing unit (311) specifies the shape enclosed by the outer line (La) and registers the area enclosed by the outer line (La) as a pavement (F) (see FIG. 9). In the pavement (F), the outermost area (F0) becomes a completed work area where the cutting work has been finished, and the inner area (F1) becomes an uncompleted work area where the cutting work has not been finished. Furthermore, the method of registering the pavement (F) is not limited to this, and the setting processing unit (311) may apply a known technology (see Japanese Patent Publication 2022-87959 and Japanese Patent Publication 2023-56476) in which, for example, the self-position (measurement point data, positioning point) of the combine (1) is approximated to a straight line and the area enclosed by the approximate straight line is registered as a pavement (F).

[0076] The driving system (10) performs the corner cutting operation of the outermost area (F0) as described above. In addition, although the above-described embodiment describes the corner cutting operation of the outermost area (F0) when the pavement (F) is not registered, if the pavement (F) is registered, the process of creating the outer line (La) is omitted. In this case, the operator automatically drives the combine (1) in alignment with the outer edges (right edge, top edge, left edge, bottom edge) of the pavement (F), and then stops the automatic driving. The reference line (L0), the slope path (L1), and the slope path (L2) are included in the outermost path (Re).

[0077] In addition, in the above configuration, the generation processing unit (312) sets the angle of inclination of the slope path (L1) and the position of the intersection point (Pa) (see FIG. 8c) so that the body (rear end) of the combine (1) does not protrude outside the work area due to the turning motion when moving in the second stroke. Likewise, the generation processing unit (312) sets the angle of inclination of the slope path (L2) and the position of the intersection point (Pb) so that the body of the combine (1) does not protrude outside the work area due to the turning motion when moving in the third stroke at the intersection point (Pb) (see FIG. 8d). In addition, the maximum value of the slope angle (maximum slope angle) may be pre-set. In this case, the generation processing unit (312) may, for example, first draw a straight line with a maximum angle of inclination, and if the vehicle body protrudes outside the work area, reduce the angle of inclination so that the straight line with the maximum angle at which the vehicle body does not protrude outside the work area is set as the slope path (L1). In this way, the generation processing unit (312) determines the angle of inclination of the slope paths (L1, L2) so that the rear end of the vehicle body does not protrude outside the work area.

[0078] The method of cutting corners in the outermost area (F0) is not limited to the above method. In another embodiment, the combine (1) may perform cutting operations in the outermost area (F0) while driving (manual driving) according to the operator's manual steering. Additionally, the setting processing unit (311) may register the packaging (F) by specifying the shape of the work area based on the position information of the combine (1) obtained during manual driving.

[0079] In addition, as another embodiment, the combine (1) may perform the harvesting work of the outermost area (F0) by automatic driving regardless of operation by an operator (e.g., shift operation of the main speed lever).

[0080] In addition, as another embodiment, if the shape of the packaging (F) is already registered, the combine (1) may automatically drive along a path parallel to the outer edge of the packaging (F).

[0081] [Method for Generating In-Route (Rf) (Automatic Driving Route)]

[0082] Next, a specific example of a method for generating an automatic driving path (inner path (Rf)) for automatically driving a combine (1) in an inner area (F1) will be described. The driving system (10) generates an inner path (Rf) based on the location of an unworked area (unworked area), the location of a pre-worked area (pre-worked area), the shape of the pavement (F) (location of the outer edge of the pavement), etc. Additionally, the driving system (10) executes the process of generating the inner path (Rf) after the harvesting operation of the outermost area (F0) is completed. As another embodiment, the driving processing unit (111) may acquire location information of the outermost area (F0) and execute the process of generating the inner path (Rf) before the harvesting operation of the outermost area (F0).

[0083] FIG. 10 shows a non-working area (inner area (F1)) which is the target area for automatic driving. The setting processing unit (311) of the operating terminal (3) sets either a first mode that generates a target path including a reverse path at the connection part of the first work path and the second work path, or a second mode that generates a target path not including a reverse path at the connection part. The generation processing unit (312) generates a target path based on the first mode or the second mode. In addition, the target path includes a straight work path for performing work while driving straight, as a path from a starting position (S) to an ending position (G), and a movement path (non-working path) for moving from the straight work path to the next straight work path while the work is stopped.

[0084] Specifically, when set to the first mode, the generation processing unit (312) generates a work path (R1) (forward straight path) parallel to the outer edge (Fa), which is the outermost position of the inner circumference area (F1) (unworked area), as shown in FIG. 11a. Additionally, the generation processing unit (312) generates a work path (R1) of a length capable of harvesting the grain (the grain enclosed by the dotted line in FIG. 11a) existing in the working direction of the combine (1). That is, the generation processing unit (312) generates a work path (R1) with the end point at the position (P1) where the tip of the harvesting unit (15) comes out of the unworked area.

[0085] Additionally, as shown in FIG. 11b, the generation processing unit (312) generates a non-working path (R11) (reverse turning path) with the end point at the position (P2) on the extension line of the next working path (R2) in a direction parallel to the outer edge (Fb) from the position (P1). Additionally, as shown in FIG. 11c, the generation processing unit (312) generates a non-working path (R12) (forward straight path) parallel to the outer edge (Fb) with the end point at the position (P3) where the tip of the cutting unit (15) enters the non-working area, starting from the position (P2). Additionally, the generation processing unit (312) generates a work path (R2) (forward straight path) parallel to the outer edge (Fb), which is an extension of the non-work path (R12), has a starting point at position (P3), and an ending point at position (P4) where the tip of the cutting unit (15) comes out of the non-work area. Additionally, the generation processing unit (312) generates a work path (R2) of a length capable of cutting the grain (the grain enclosed by the dotted line in FIG. 11c) that exists in the working direction of the combine (1).

[0086] In this way, when set to the first mode, the generation processing unit (312) generates a work path (R1, R2) that follows the outer edge (Fa, Fb) of the unworked area (inner circumference area (F1)) as shown in FIG. 12, and a non-work path (R11, R12) (movement path (Rs1)) that connects the work path (R1, R2). Additionally, the generation processing unit (312) generates a movement path (Rs1) (e.g., “α-turn”) that includes a reverse path. That is, when set to the first mode, the generation processing unit (312) generates a target path (see FIG. 12) that includes a reverse path at the connection part of the work path (R1) and the work path (R2). Additionally, the generation processing unit (312) may generate a target path including a straight reverse path moving backward along the work path (R1) from position (P1), a right reverse turning path moving backward in the right direction from the front of position (P3), and a forward straight path moving from the right reverse turning path to the work path (R2). According to this target path, the turning distance of the reverse turning path is shortened compared to the target path shown in FIG. 12.

[0087] In this regard, when the above second mode is set, the generation processing unit (312) generates a target path by connecting a work path (Ra) following the outer edge (Fa) of the unworked area and a work path (Rb) following the outer edge (Fb) of the unworked area at position (P0), as shown in FIG. 13. That is, when the above second mode is set, the generation processing unit (312) generates a target path that does not include a reverse path at the connection part of the work path (R1) and the work path (R2), and a target path (see FIG. 13) that allows for continuous forward driving and work along the work path (R1) and the work path (R2).

[0088] Here, when the corner cutting operation described above (see FIG. 8a to FIG. 8f) is performed on the outermost area (F0), the unworked area does not become a rectangular shape (see FIG. 9), and an inclined side may be formed as shown in FIG. 10, such as the outer side (Fb) shown in FIG. 10. Specifically, the angle (θ1) (see FIG. 10) formed by the outer side (Fa) and the outer side (Fb) of the unworked area becomes an angle greater than 90 degrees and less than 180 degrees (obtuse angle). That is, the angle (θ1) (see FIG. 12 and FIG. 13) formed by the first work path (work path (R1), work path (Ra)) and the second work path (work path (R2), work path (Rb)) becomes an angle greater than 90 degrees and less than 180 degrees (obtuse angle).

[0089] When the angle (θ1) formed is large, as shown in FIG. 12, the path length of the non-working path (R11), which is the reverse path, becomes longer, and the driving distance for reverse driving becomes longer. In addition, the path length of the non-working path (R12), which is the forward path, also becomes longer, and the driving distance for non-working driving becomes longer. Because of this, a problem arises where work efficiency decreases. On the other hand, when driving along the target path shown in FIG. 13 while the angle (θ1) formed is small, problems arise such as the divider (28) knocking down the valleys or the soil of the pavement becoming rough at the connection point of the work path (Ra) and the work path (Rb).

[0090] Therefore, in the present embodiment, the setting processing unit (311) sets either a first mode that generates a target path including a reverse path and a second mode that generates a target path not including a reverse path when the angle (θ1) formed by the first work path and the second work path is obtuse. Specifically, the setting processing unit (311) sets the first mode (see FIG. 12) when the angle (θ1) formed is less than a predetermined angle, and sets the second mode (see FIG. 13) when the angle (θ1) formed is greater than or equal to a predetermined angle. For example, the predetermined angle is set to an angle of 170 degrees or more and 175 degrees or less. In addition, the predetermined angle is set according to the input operation of the operator.

[0091] For example, in the setting screen (D3) shown in FIG. 14a, the operator may input any angle within the range of 5 to 10 degrees (allowable range) for the connection allowable angle (d2) (see FIG. 14b) between the first work path (Rx) and the second work path (Ry). Additionally, as shown in FIG. 14b, the connection allowable angle (d2) is represented as the "angle formed by 180 degrees (d1)." The setting processing unit (311) sets the angle input by the operator as the connection allowable angle (d2). Additionally, the setting processing unit (311) sets a mode (first mode or second mode) according to the connection allowable angle (d2). Furthermore, the connection allowable angle input by the operator may be the angle (d1) formed between the work paths (see FIG. 14b).

[0092] In addition, if the connection angle (θ2) between the first work path (Rx) and the second work path (Ry) exceeds, for example, 10 degrees (outside the allowable range), the driving direction is significantly switched at the connection point between the first work path (Rx) and the second work path (Ry), so as shown in FIG. 15a, the combine (1) requires a turn-back including reverse driving at the connection point. In contrast, if the connection angle (θ2) is within the range of, for example, 5 to 10 degrees (allowable range), the first work path (Rx) and the second work path (Ry) are connected at a gentle obtuse angle, so the direction change is gentle, so as shown in FIG. 15b, the combine (1) does not require a turn-back including reverse driving at the connection point, and it is possible to drive while continuously cutting the first work path (Rx) and the second work path (Ry). In other words, the above allowable range is the range of angles (allowable connection angles) capable of generating a target path that does not include a reverse driving path (reverse path) at the connection point between work paths. Furthermore, the angle entered by the operator within the above allowable range becomes the judgment criterion value for the allowable connection angle.

[0093] The generation processing unit (312) generates a target path based on a mode (a first mode or a second mode) corresponding to the connection allowance angle (d2) set by the setting processing unit (311). Specifically, when the connection angle (θ2) of the first work path (Rx) and the second work path (Ry) is greater than or equal to the connection allowance angle (d2), which is a judgment criterion value (when the angle (θ1) formed is less than the connection allowance angle (d1)), the generation processing unit (312) generates a target path based on the first mode. For example, as shown in FIG. 15a, the generation processing unit (312) generates a target path that includes a backward path in the connection portion of the first work path (Rx) and the second work path (Ry). In this case, if the connection angle (θ2) is less than the connection allowable angle (d2) (if the angle formed (θ1) is greater than or equal to the connection allowable angle (d1)), the generation processing unit (312) generates a target path based on the second mode. For example, as shown in FIG. 15b, the generation processing unit (312) generates a target path that does not include a backward path in the connection portion between the first work path (Rx) and the second work path (Ry).

[0094] Additionally, the operator sets the connection allowance angle (d2) in advance on the setting screen (D3) (Fig. 14a) before starting work, for example, in the packaging (F). Then, when the operator presses the path generation button (Ka) ("Auto Path Generation") on the operation screen (D1) (see Fig. 6a) at the time when the harvesting work of the outermost area (F0) is finished, for example, the generation processing unit (312) generates a target path (inner path (Rf) (see Fig. 4)) of the inner area (F1) based on the connection allowance angle (d2). For example, the generation processing unit (312) generates a first work path (Rx) and a second work path (Ry) that are straight and parallel to the outer edge (Fa, Fb) of the unworked area (see FIG. 10) or the outer edge of the worked area in the inner circumference area (F1), and generates a connection path (target path) based on a mode (first mode or second mode) set according to the connection angle (θ2) of the first work path (Rx) and the second work path (Ry) and a preset connection allowance angle (d2).

[0095] In the first mode, the generation processing unit (312) generates a target path including a reverse path (see FIG. 15a) at the connection portion of the first work path (Rx) and the second work path (Ry). Meanwhile, in the second mode, the generation processing unit (312) generates a target path connecting the first work path (Rx) and the second work path (Ry) without generating a reverse path (see FIG. 15b).

[0096] The generation processing unit (312) generates a first work path (Rx) and a second work path (Ry) that are straight and parallel to the outer edge of the unworked area (predicted unworked area after the second turn) or the outer edge of the predicted worked area in the inner circumference area (F1), and generates a connection path (target path) based on a mode (first mode or second mode) set according to the connection angle (θ2) of the first work path (Rx) and the second work path (Ry) and a preset connection allowance angle (d2).

[0097] In another embodiment, the operator may set or change the connection allowable angle (d2) at the timing of starting the operation of the inner circumference area (F1). Additionally, the operator may set or change the connection allowable angle (d2) every time one turn in the inner circumference area (F1).

[0098] According to the above configuration, for example, when the first work path (Rx) and the second work path (Ry) are connected at an angle within the allowable range (less than the allowable connection angle (d2)) and the target path is created in the second mode, reverse driving is omitted when moving from the first work path (Rx) to the second work path (Ry) (see FIG. 15b), so work loss associated with reverse driving can be suppressed. Therefore, work efficiency can be improved. In addition, for example, when the first work path (Rx) and the second work path (Ry) are connected at an angle outside the allowable range (greater than the allowable connection angle (d2)) and the target path is created in the first mode, reverse driving is interposed when moving from the first work path (Rx) to the second work path (Ry) (see FIG. 15a), so lodging between the valleys or roughening of the pavement soil can be suppressed.

[0099] In addition, in the above-described embodiment, the first mode or the second mode is set for the unworked area formed by the corner cutting operation, but the present invention is not limited to this and can be applied to various cases where the first work path (Rx) and the second work path (Ry) are connected at an obtuse angle.

[0100] [Processing the creation of the target path (inner path (Rf))]

[0101] Hereinafter, with reference to FIG. 16, an example of the generation process (path generation process) of a target path (inner path (Rf)) for automatic driving performed by the driving system (10) will be described.

[0102] Furthermore, the present invention can be understood as an invention of a path generation method that executes one or more steps included in a path generation process. Additionally, the one or more steps included in the path generation process described herein may be appropriately omitted. Furthermore, the execution order of each step in the path generation process may differ within the scope of producing the same operational effect. Additionally, although the case where the operation control unit (31) of the operation terminal (3) executes each step in the path generation process is described as an example, a path generation method in which one or more processors distribute and execute each step in the path generation process can also be considered as another embodiment.

[0103] <Step S1>

[0104] In step S1, the operation control unit (31) obtains an angle (allowable connection angle) that can generate a target path that does not include a reverse driving path (reverse path) in the connection portion between work paths. For example, as shown in FIG. 14a, the operator can input any angle (allowable connection angle (d2)) within an allowable range of 5 to 10 degrees on the setting screen (D3). Additionally, the operation control unit (31) may display the lower limit value of the allowable range ("5 degrees") in advance as the default angle. The operation control unit (31) obtains the allowable connection angle (d2) input by the operator. In addition, the allowable connection angle here represents the angle (d2) shown in FIG. 14b, but it may also be an angle (d1) (d1 = 180 degrees - d2) formed between work paths.

[0105] Step S2

[0106] In step S2, the operation control unit (31) obtains the connection angle of the connection portion between the work paths. Specifically, the operation control unit (31) obtains the connection angle (θ2) (or the angle (θ1)) of the first work path (Rx) and the second work path (Ry) generated according to the outermost position of the unworked area of ​​the inner circumference area (F1). For example, in the case of the inner circumference area (F1) shown in FIG. 10, the operation control unit (31) generates a first work path (Rx) parallel to the outer circumference side (Fa) and a second work path (Ry) parallel to the outer circumference side (Fb), and obtains the connection angle (θ2) of the first work path (Rx) and the second work path (Ry).

[0107] Step S3

[0108] In step S3, the operation control unit (31) determines whether the connection angle (θ2) is greater than or equal to the connection allowable angle (d2). If the operation control unit (31) determines that the connection angle (θ2) is greater than or equal to the connection allowable angle (d2) (S3: Yes), the process is advanced to step S4. On the other hand, if the operation control unit (31) determines that the connection angle (θ2) is less than the connection allowable angle (d2) (S3: No), the process is advanced to step S31.

[0109] Step S4

[0110] In step S4, the operation control unit (31) sets the path generation mode to the first mode. That is, the operation control unit (31) sets the generation mode (first mode) to generate a target path including a reverse path at the connection part of the first work path (Rx) and the second work path (Ry).

[0111] Step S5

[0112] In step S5, the operation control unit (31) generates a target path according to the first mode. Specifically, the operation control unit (31) generates a target path that includes a reverse path at the connection point between the first work path (Rx) and the second work path (Ry), as shown in FIG. 15a. That is, the operation control unit (31) generates a target path that includes a turning path that reverses the combine (1) (α-turn). Furthermore, the driving method for reverse driving is not limited to the method ("α-turn") shown in FIG. 15a, but may be any well-known driving method. After step S5, the operation control unit (31) moves the processing to step S6.

[0113] Step S31

[0114] In step S31, the operation control unit (31) sets the path generation mode to a second mode. That is, the operation control unit (31) sets the generation mode (second mode) to generate a target path that does not include a reverse path at the connection part of the first work path (Rx) and the second work path (Ry).

[0115] Step S32

[0116] In step S32, the operation control unit (31) generates a target path according to the second mode. Specifically, as shown in FIG. 15b, the operation control unit (31) generates a target path that does not include reverse driving when moving from the first work path (Rx) to the second work path (Ry). Additionally, the operation control unit (31) generates a target path that does not include a non-work path between the first work path (Rx) and the second work path (Ry). After step S5, the operation control unit (31) moves the processing to step S6.

[0117] Step S6

[0118] In step S6, the operation control unit (31) determines whether it has received a registration operation for a target path from the operator. If the operation control unit (31) receives the registration operation from the operator (S6: Yes), it proceeds to step S7. On the other hand, if the operation control unit (31) does not receive the registration operation from the operator (S6: No), it returns to step S1 and repeats the above-described processing. For example, the operator may check the path creation result screen (D2) (see FIG. 6b) and, if it determines that the target path is not the intended path, instruct the regeneration of the target path. In this case, the operator may change the connection allowance angle (d2) on the setting screen (D3) (see FIG. 14a).

[0119] Step S7

[0120] In step S7, the operation control unit (31) registers the generated target path. Specifically, the operation control unit (31) registers the target path in correspondence with the packaging (F). Additionally, the operation control unit (31) may register the connection allowable angle (d2) entered by the operator in correspondence with the packaging (F). Additionally, the operation control unit (31) may register the connection allowable angle (d2) in correspondence with the target path. By registering the connection allowable angle (d2), for example, when working on the same packaging (F) next time, the registered connection allowable angle (d2) can be displayed as the default angle on the setting screen (D3). Additionally, when working next time, the operator can read and set the registered connection allowable angle (d2).

[0121] In this manner, the operation control unit (31) performs the process of generating a target path (inner path (Rf)). After the target path is generated, when the operator inputs an automatic driving start instruction on the operation terminal (3), the operation control unit (31) outputs the path data of the target path to the combine (1). When the vehicle control device (11) of the combine (1) acquires the path data from the operation terminal (3), it initiates automatic driving and harvesting operations on the combine (1) and executes automatic driving and harvesting operations according to the inner path (Rf) from the start position (S) to the end position (G).

[0122] Specifically, when the vehicle control device (11) acquires path data of the target path of the first mode, as shown in FIG. 15a, it drives the combine (1) straight along the first work path (Rx), then switches to the reverse direction to drive in reverse (turning), and switches from driving in reverse to driving in forward to move to the second work path (Ry). In contrast, when the vehicle control device (11) acquires path data of the target path of the second mode, as shown in FIG. 15b, it drives the combine (1) straight forward along the first work path (Rx), then continues driving in forward straight to move to the second work path (Ry). In this way, when the angle formed by the first work path (Rx) and the second work path (Ry) is obtuse (greater than 90 degrees and less than 180 degrees), the vehicle control device (11) sets (selects) one of a first driving mode that drives a target path including a reverse path at the connection part of the first work path (Rx) and the second work path (Ry), and a second driving mode that drives a target path not including a reverse path at the connection part. Then, the vehicle control device (11) executes automatic driving and harvesting operations of the combine (1) according to the target path (inner path (Rf)) from the starting position (S) to the ending position (G) in the inner area (F1).

[0123] As described above, the driving system (10) according to the present embodiment includes a first work path (Rx) and a second work path (Ry) following the first work path (Rx), and generates a target path for automatic driving of the combine (1). Additionally, when the angle (θ1) formed by the first work path (Rx) and the second work path (Ry) is obtuse, the driving system (10) sets one of a first mode that generates a target path including a reverse path at the connection portion of the first work path (Rx) and the second work path (Ry), and a second mode that generates a target path not including a reverse path at the connection portion.

[0124] Specifically, the driving system (10) sets a first mode when the angle (θ1) (see FIG. 15a and FIG. 15b) is less than a predetermined angle (i.e., the connection angle (θ2) is greater than or equal to the connection allowable angle (d2)), and sets a second mode when the angle (θ1) is greater than or equal to a predetermined angle (i.e., the connection angle (θ2) is less than the connection allowable angle (d2). Additionally, the connection allowable angle (d2) is set according to the operator's input operation (see FIG. 14a).

[0125] According to the above configuration, when the first work path (Rx) and the second work path (Ry) are connected at an obtuse angle, the combine (1) can be moved from the first work path (Rx) to the second work path (Ry) without driving in reverse, and can perform continuous harvesting operations by driving forward. Therefore, work loss due to driving in reverse can be suppressed, and thus work efficiency can be improved. In addition, according to the above configuration, since the operator can set any connection allowable angle (d2) (see FIG. 14a), the target path can be generated by the generation mode desired by the operator (first mode, second mode). As another embodiment, the operator may be able to set the generation mode to the first mode or the second mode on the setting screen.

[0126] Here, if the amount of water stored in the storage tank (24) increases, it may bulge outward when the combine (1) turns, making it difficult to properly drive the target path corresponding to the second mode. For this reason, the setting processing unit (311) may not allow the setting of the second mode depending on the amount of water stored in the storage tank (24) during operation. Specifically, the setting processing unit (311) allows the setting of only the first mode when the amount of water stored in the storage tank (24) is greater than a predetermined amount. In addition, as the amount of water stored in the storage tank (24) increases, the setting processing unit (311) may change the connection angle (θ2) that allows the setting of the second mode to a smaller angle. Accordingly, for example, when the amount of water stored in the storage tank (24) increases, the setting of the second mode is allowed when the connection angle (θ2) is small, and the setting of the second mode is prohibited when the connection angle (θ2) is large.

[0127] Additionally, the setting processing unit (311) may reduce the threshold of the setting speed that permits the setting of the second mode as the amount of water stored in the storage tank (24) increases. Accordingly, for example, when the amount of water stored in the storage tank (24) increases, the setting of the second mode is permitted only at low speeds, and the setting of the second mode is prohibited at high speeds.

[0128] Additionally, the setting processing unit (311) may change the connection angle (θ2) that allows the setting of the second mode to a smaller angle as the amount of water in the water tank (24) increases and the set vehicle speed increases.

[0129] Additionally, the setting processing unit (311) may reduce the threshold of the setting speed that allows the setting of the second mode as the amount of water in the water tank (24) increases and the connection angle (θ2) increases.

[0130] Additionally, the vehicle control device (11) may control the vehicle speed of the combine (1) according to the amount of water in the storage tank (24) and the connection angle (θ2) so that the second mode can be executed.

[0131] [Other embodiments]

[0132] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0133] [Vehicle Speed ​​Setting]

[0134] In the target path generated in the second mode (see FIG. 15b), when the angle (θ1) formed by the first work path (Rx) and the second work path (Ry) is small (when the connection angle (θ2) is large), the turning angle increases, and the combine (1) is more likely to bulge outward when driving through the connection section. Conversely, when the angle (θ1) formed by the first work path (Rx) and the second work path (Ry) is large (when the connection angle (θ2) is small), the turning angle decreases, and the combine (1) is less likely to bulge outward when driving through the connection section. In addition, generally, when the combine (1) drives through the turning section, the faster the vehicle speed, the more likely it is to bulge outward, and the slower the vehicle speed, the less likely it is to bulge outward.

[0135] Therefore, as another embodiment of the present invention, when the operation control unit (31) (setting processing unit (311)) is set to the second mode, the driving speed (vehicle speed) of the combine (1) at the connection part of the first work path (Rx) and the second work path (Ry) may be set according to the angle (θ1) (connection angle (θ2)) formed by the first work path (Rx) and the second work path (Ry). For example, the setting processing unit (311) sets the vehicle speed of the combine (1) at the connection part to a low speed as the connection angle (θ2) is larger, and sets the vehicle speed of the combine (1) at the connection part to a high speed as the connection angle (θ2) is smaller.

[0136] In addition, as another embodiment, when the vehicle speed of the combine (1) at the connection part is set to a low speed, the setting processing unit (311) may expand the allowable range of the connection allowable angle. For example, when the vehicle speed of the combine (1) at the connection part is set to a first speed, the setting processing unit (311) sets the upper limit angle of the allowable range to "10 degrees" (see FIG. 14a), and when the vehicle speed of the combine (1) at the connection part is set to a second speed, which is lower than the first speed, the upper limit angle of the allowable range is set to "20 degrees". By doing so, the operator can set the connection allowable angle within the range of 5 degrees to 20 degrees.

[0137] [Setting the overlap amount]

[0138] If the connection angle (θ2) between the first work path (Rx) and the second work path (Ry) is large and the combine (1) bulges outward when driving through the connection part, a gap (unworked area) is created when working inwardly.

[0139] Thus, as another embodiment of the present invention, when the operation control unit (31) (setting processing unit (311)) is set to the second mode, the work width corresponding to the first work path (Rx) and the second work path (Ry) and the work width corresponding to the work path adjacent to the first work path (Rx) and the second work path (Ry) may be set according to the angle (θ1) (connection angle (θ2)) formed by the first work path (Rx) and the second work path (Ry). For example, the setting processing unit (311) sets the default value of the overlap amount to 15 cm, sets the overlap amount to a value greater than 15 cm as the connection angle (θ2) is larger, and sets the overlap amount to a value smaller than 15 cm as the connection angle (θ2) is smaller. In addition, since there is a risk that waste straw (B1) (see FIG. 4c) may get caught if the overlap amount is excessively large, an upper limit value of the overlap amount (e.g., 30 cm) may be set. In addition, the setting processing unit (311) may set the overlap amount or the angle (θ1) (connection angle (θ2)) formed by the first work path (Rx) and the second work path (Ry) based on information of the work area (unwork area) so that no work residue is created.

[0140] In addition, as another embodiment, the setting processing unit (311) may determine the overlap amount based on the connection angle (θ2) and vehicle speed. For example, the setting processing unit (311) may estimate the swelling amount of the combine (1) at the connection part based on the connection angle (θ2) and vehicle speed, and determine the overlap amount based on the estimated swelling amount. In addition, the setting processing unit (311) may calculate the swelling amount while the combine (1) is driving and correct the preset overlap amount based on the calculated swelling amount.

[0141] In addition, as another embodiment, the setting processing unit (311) may determine the vehicle speed and the overlap amount based on the connection allowable angle (d2) input (set) by the operator. For example, when the operator inputs the connection allowable angle (d2) in the range of 5 to 10 degrees, the setting processing unit (311) sets the vehicle speed and the overlap amount to default values. In contrast, for example, when the operator inputs the connection allowable angle (d2) in the range of 10 to 20 degrees, the setting processing unit (311) sets the vehicle speed to a lower speed than the default value and sets the overlap amount to a higher value than the default value.

[0142] In addition, when the combine (1) is driven automatically by performing steering control to follow a target position (driving target position, forward viewpoint) set in front (see [Setting of forward viewpoint] described later), if the forward viewpoint is set at a position away from the combine (1), the target path of the steering control is switched to the second work path (Ry) early when moving from the first work path (Rx) to the second work path (Ry). In this case, if the connection angle (θ2) is large, the combine (1) drives around the connection part between the first work path (Rx) and the second work path (Ry) inward, and a gap (unworked area) is likely to form on the outer side of the connection part. Likewise in this case, the setting processing unit (311) sets the overlap amount according to the angle (θ1) (connection angle (θ2)) formed by the first work path (Rx) and the second work path (Ry). Additionally, the setting processing unit (311) may set the overlap amount according to the position of the forward viewing point (forward viewing distance).

[0143] In this way, the connection allowable angle (d2), vehicle speed, and overlap amount may each have corresponding settable ranges. In this case, for example, if the connection allowable angle (d2) set by the operator exceeds the settable range of the corresponding vehicle speed and overlap amount, the setting processing unit (311) may prohibit the generation of a target path by the second mode and generate a target path by the first mode.

[0144] [Setting the allowed connection angle]

[0145] In the above-described embodiment, the setting processing unit (311) sets the connection allowable angle (d2) according to the operator's input operation, but in another embodiment, the setting processing unit (311) may automatically set the connection allowable angle (d2) based on the vehicle speed set by the operator, or may automatically set the connection allowable angle (d2) based on the overlap amount set by the operator, or may automatically set the connection allowable angle (d2) based on the vehicle speed and overlap amount set by the operator.

[0146] Additionally, the setting processing unit (311) may automatically set the connection allowable angle (d2) based on the selected turning method (turning type) when the operator selects a turning method on the setting screen. The turning methods include, for example, "Standard," which is a standard turning method; "Soft," which is a turning method with a turning radius larger than "Standard"; and "Wet Field," which is a turning method with a turning radius larger than "Soft". The setting processing unit (311) sets the connection allowable angle (d2) (or allowable range) to a large value when the operator selects "Standard" as the turning method, and sets the connection allowable angle (d2) (or allowable range) to a small value when the operator selects "Soft" or "Wet Field" as the turning method. As a result, when "Soft" or "Wet Field" is selected, the first mode is easily set (because the driving method of FIG. 15a is applied), making it easier to suppress the roughness of the pavement soil.

[0147] [Setting the forward focus point]

[0148] The combine (1) sets a target position (driving target position, forward view point) at a predetermined position located a predetermined distance away from the current position in the direction of travel, and automatically drives along the target path by performing steering control to follow the target position. When the vehicle control device (11) is set to the second mode, the predetermined distance (target position) may be set according to the angle (θ1) (connection angle (θ2)) formed by the first work path (Rx) and the second work path (Ry). For example, when the connection angle (θ2) is large, the vehicle control device (11) sets the target position (Ps) at a position with a longer predetermined distance, as shown in FIG. 17a. In contrast, when the connection angle (θ2) is small, the vehicle control device (11) sets the target position (Ps) at a position with a shorter predetermined distance, as shown in FIG. 17b. When the target location (Ps) reaches the connection point of the first work path (Rx) and the second work path (Ry), the combine (1) automatically drives to follow the target location (Ps) moving along the second work path (Ry).

[0149] According to the above configuration, when the connection angle (θ2) is large (first mode) (see FIG. 17a), the combine (1) reaches the connection point of the first work path (Rx) and the second work path (Ry) early, and the target path is switched to the second work path (Ry) early, so outward swelling in the connection part can be suppressed. In addition, when the connection angle (θ2) is small (second mode) (see FIG. 17b), the combine (1) reaches the connection point of the first work path (Rx) and the second work path (Ry) late, and the target path is switched to the second work path (Ry) late, so it can drive with high positional precision with respect to the first work path (Rx) and the second work path (Ry).

[0150] [Other setup methods for Mode 2]

[0151] In another embodiment, the setting processing unit (311) may determine whether to set a second mode based on the type of work device mounted on the work vehicle. For example, if the work device is a mowing unit or a brush cutter of the present embodiment, the work (mowing, brushing) on ​​the work object can be properly performed even if the driving shown in FIG. 15b is performed. For this reason, if the work device is a mowing unit or a brush cutter, the setting processing unit (311) permits the setting of a second mode.

[0152] In this regard, if the working machine is, for example, a subsoiler, when the driving shown in FIG. 15b is performed, it goes too far into the soil, and the work precision is reduced. For this reason, if the working machine is a subsoiler, the setting processing unit (311) prohibits the setting of the second mode and only allows the setting of the first mode.

[0153] In another embodiment, the setting processing unit (311) may set the allowable range of the connection allowable angle (d2) according to the type of work machine. For example, the setting processing unit (311) sets the allowable range to a large range when the work machine is a mowing unit or a brush cutter that has little impact on the soil, and sets the allowable range to a small range when the work machine is a tiller that has a large impact on the soil.

[0154] [Splitting the work path]

[0155] When the connection angle (θ2) between the first work path (Rx) and the second work path (Ry) exceeds the upper limit angle of the allowable range of the connection allowable angle (d2), the generation processing unit (312) may generate a split path and generate a target path by the second mode. For example, as shown in FIG. 18, when the connection angle (θ2) exceeds the upper limit angle (e.g., 10 degrees), the setting processing unit (311) generates a split path (Rz) between the first work path (Rx) and the second work path (Ry). By doing so, the connection angle (θ21) between the first work path (Rx) and the split path (Rz), and the connection angle (θ22) between the second work path (Ry) and the split path (Rz) both become within the allowable range of the connection allowable angle (d2), and it becomes possible to generate a target path by the second mode. Additionally, the setting processing unit (311) may generate a split path such that the connection angle (θ21) and the connection angle (θ22) each become half the angle of the connection angle (θ2).

[0156] Additionally, the setting processing unit (311) may pre-set an upper limit on the number of split paths. Additionally, the operator may be able to select whether or not to create split paths.

[0157] [Setting of Discharge Implementation Location]

[0158] The generation processing unit (312) may set a discharge transfer position to execute a discharge operation by moving the combine (1) to the discharge position according to the amount of water stored in the storage tank (24) on the target path. For example, the generation processing unit (312) sets the discharge transfer position at the end of each work path. However, the generation processing unit (312) may prohibit setting the discharge transfer position at the end of the first work path (Rx) (the connection part between the first work path (Rx) and the second work path (Ry). In another embodiment, the generation processing unit (312) may allow the setting of the discharge transfer location at the connection portion between the first work path (Rx) and the second work path (Ry) in the case of the first mode (see FIG. 15a), and prohibit the setting of the discharge transfer location at the connection portion between the first work path (Rx) and the second work path (Ry) in the case of the second mode (see FIG. 15b).

[0159] In each of the embodiments described above, a combine harvester (1) was cited 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 a tractor, an electric shaving machine, or a construction machine. In addition, in each of the embodiments described above, a configuration in which the work vehicle manually drives (manually steers) the outermost area (F0) and automatically drives (automatically steers) the inner area (F1) was described, but the present invention may be configured in which the work vehicle automatically drives (automatically steers) both the outermost area (F0) and the inner area (F1).

[0160] [Invention Note]

[0161] Hereinafter, an overview of the invention derived from the above-described embodiment (the method for generating an internal path (Rf) (automatic driving path) (second configuration)) is provided. Additionally, each configuration and each processing function described in the following description can be selected and arbitrarily combined.

[0162] <Booklet 1>

[0163] A path generation method comprising a first work path and a second work path following the first work path, and generating a target path for automatically driving a work vehicle, wherein

[0164] A path generation method for setting either a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, or a second mode for generating a target path that does not include the reverse path at the connection portion.

[0165] Booklet 2

[0166] If the angle formed above is less than a predetermined angle, the first mode is set, and

[0167] A path generation method described in Appendix 1 for setting the second mode when the angle formed above is greater than or equal to the predetermined angle.

[0168] Book 3

[0169] The above predetermined angle is a path generation method described in Appendix 2, which is set according to user input operation.

[0170] Book 4

[0171] A path generation method described in any one of appendices 1 to 3 for setting the driving speed of the work vehicle in the connection part according to the angle formed when set to the second mode above.

[0172] Book 5

[0173] A path generation method described in any one of Appendix 1 to 4, wherein, when set to the above second mode, the work width corresponding to the above first work path and the above second work path, and the overlap amount of the work width corresponding to the work path adjacent to the above first work path and the above second work path are set according to the angle formed above.

[0174] Book 6

[0175] A path generation method described in Appendix 5, which sets the overlap amount according to the angle formed above and the driving speed of the work vehicle pre-set by the user when set to the above second mode.

[0176] Book 7

[0177] In the case where the above-mentioned work vehicle is driven to follow a target position set at a predetermined location at a predetermined distance in the direction of travel from the current position,

[0178] A path generation method described in any one of appendices 1 to 6, which sets the predetermined distance according to the angle formed when set to the second mode above.

[0179] Book 8

[0180] A path generation method described in any one of appendices 1 to 7, which determines whether to set the second mode based on the type of work device mounted on the above-mentioned work vehicle.

[0181] Bookmark 9

[0182] A path generation program that generates a target path for automatically driving a work vehicle, comprising a first work path and a second work path following the first work path,

[0183] A path generation program for one or more processors to set either a first mode for generating a target path including a backward path at the connection portion of the first work path and the second work path when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, or a second mode for generating a target path that does not include the backward path at the connection portion.

[0184] Bookmark 10

[0185] A path generation system comprising a first work path and a second work path following the first work path, and generating a target path for automatically driving a work vehicle,

[0186] A path generation system that sets either a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path, and a second mode for generating a target path not including the reverse path at the connection portion, when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees.

[0187] Bookmark 11

[0188] An automatic driving method comprising a first work path and a second work path following the first work path, and automatically driving a work vehicle according to a target path,

[0189] An automatic driving method that selects either a first driving mode that drives a target path including a reverse path at the connection portion of the first working path and the second working path when the angle formed by the first working path and the second working path is greater than 90 degrees and less than 180 degrees, or a second driving mode that drives a target path not including the reverse path at the connection portion. Explanation of the symbols

[0190] 10: Driving System 1: Combine (work vehicle) 11: Vehicle control unit 15: Harvesting unit (implementation tool) 111: Driving processing unit 112: Job Processing Unit 113: Registration Processing Unit 3: Operation Terminal 31: Operation control unit 311: Configuration processing unit 312: Generation Processing Unit 313: Output processing unit F: Packaging F0: Outermost area F1: Inner region Ps: Target location (forward focus point) R: Target path Re: Outlier Path Rf: Inner path R1: Work path R11: Non-working path (reverse path) R12: Non-work path (forward path) R2: Work path Ra: Work path (1st work path) Rb: Work path (second work path) Rs1: Movement path Rx: 1st work path Ry: Second task path Rz: Split path d1: Allowed connection angle d2: Allowed connection angle θ1: The angle formed (by the first work path and the second work path) θ2: Connection angle

Claims

Claim 1 A path generation method for generating a target path for automatically driving a work vehicle, comprising a first work path and a second work path following the first work path, wherein when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path, and a second mode for generating a target path not including the reverse path at the connection portion. Claim 2 A path generation method according to claim 1, wherein if the angle formed is less than a predetermined angle, the first mode is set, and if the angle formed is greater than or equal to the predetermined angle, the second mode is set. Claim 3 In claim 2, the predetermined angle is a path generation method set according to user input operation. Claim 4 A path generation method according to claim 1, wherein when set to the second mode, the driving speed of the work vehicle in the connection part is set according to the angle formed. Claim 5 A path generation method according to claim 1, wherein when set to the second mode, the work width corresponding to the first work path and the second work path, and the overlap amount of the work width corresponding to the first work path and the second work path adjacent to the first work path and the second work path are set according to the angle formed. Claim 6 A path generation method according to claim 5, wherein when set to the second mode, the overlap amount is set according to the angle formed and the driving speed of the work vehicle pre-set by the user. Claim 7 A path generation method according to claim 1, wherein the work vehicle is driven to follow a target position set at a predetermined position at a predetermined distance from the current position in the direction of travel, and the predetermined distance is set according to the angle formed when the second mode is set. Claim 8 A path generation method according to claim 1, which determines whether to set the second mode based on the type of work device mounted on the work vehicle. Claim 9 A path generation program for generating a target path for automatically driving a work vehicle, comprising a first work path and a second work path following the first work path, wherein one or more processors set either a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, or a second mode for generating a target path not including the reverse path at the connection portion. Claim 10 A path generation system for generating a target path for automatically driving a work vehicle, comprising a first work path and a second work path following the first work path, wherein when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the path generation system sets either a first mode for generating a target path including a reverse path at the connection portion of the first work path and the second work path, or a second mode for generating a target path not including the reverse path at the connection portion. Claim 11 An automatic driving method comprising a first work path and a second work path following the first work path, wherein the method automatically drives a work vehicle along a target path, wherein when the angle formed by the first work path and the second work path is greater than 90 degrees and less than 180 degrees, the method selects either a first driving mode that drives a target path including a reverse path at the connection portion of the first work path and the second work path, or a second driving mode that drives a target path not including the reverse path at the connection portion.

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