Auto cruising system

Abstract

We provide an automatic driving system that makes it easy to avoid situations where the gap between the passing range of the cutting unit and the overlapping range of the cutting area becomes relatively wide. The automatic driving system manages the automatic driving of a combine (1) having a plurality of dividers (5) that divide and sweep the planting grooves of the packaging and a cutting unit that cuts the planting grooves of the packaging, and is equipped with a path calculation unit that calculates a target driving path LA for automatic driving following the direction of the row, and the path calculation unit is configured to calculate a target driving path LA such that a predetermined condition is satisfied when the combine (1) drives along the target driving path LA, and the predetermined condition is that a predetermined number of dividers (53) from the left end among the plurality of dividers (5) is located to the right of the row located at the left end in the uncut area, and also a predetermined number of dividers (55) from the right end among the plurality of dividers (5) is located to the left of the row located at the right end in the uncut area. We provide an automatic driving system that makes it easy for the position of the target driving path in the direction of the vehicle to become an appropriate position. The automatic driving system manages the automatic driving of a harvester (1) that harvests crops in a field by a first harvest drive, which is a harvest drive performed by manual driving in the outer area SA of the field, and a second harvest drive, which is a harvest drive performed by automatic driving in the inner area of ​​the field, rather than the outer area SA, after the first harvest drive. The system is equipped with a path calculation unit that calculates a target driving path LN for the second harvest drive. The path calculation unit calculates a milling direction path LA, which is a target driving path LN for the second harvest drive, based on a passing reference position, which is a position where a predetermined part (51) of the harvester (1) passed during the harvest drive in the milling direction in the first harvest drive. We provide an automatic driving system that facilitates threshing efficiency and driving efficiency. Automatic driving system A that manages automatic driving of a combine (1) that performs a cutting drive in a rectangular uncut area in packaging, and comprises a selection unit (4a) that selects one of the four sides constituting the outline of the uncut area, a judgment unit (4b) that determines whether the slope of the side opposite the selected side, which is the selected side selected by the selection unit (4a), is less than or equal to a predetermined reference angle, and a cutting direction determination unit (4c) that determines the cutting direction in the uncut area. When the judgment unit (4b) determines that the slope is greater than the reference angle, the cutting direction determination unit (4c) determines the direction in which the selected side extends as the cutting direction, and when the judgment unit (4b) determines that the slope is less than or equal to the reference angle, the cutting direction determination unit (4c) determines either the direction in which the selected side extends or the direction in which the side opposite the selected side extends as the cutting direction, depending on the state of the machine.

Description

Technology Field

[0001] The present invention relates to an automatic driving system for managing the automatic driving of a harvester (combine) for harvesting crops in a field. Background Technology

[0002] Patent Document 1 describes the invention of a harvester capable of automatic driving (referred to as a "combine" in Patent Document 1). In a harvesting operation using this harvester, the operator manually operates the combine at the very beginning of the harvesting operation to perform a harvesting drive that goes around the outer perimeter of the field.

[0003] In driving on this outer edge, the direction in which the combine must drive is recorded. Then, by automatic driving based on the recorded direction, mowing is performed in the unharvested area of ​​the pavement. Prior art literature

[0004] Japanese Utility Model Application Publication No. Hei 2-107911 The problem to be solved

[0005] Patent Document 1 does not describe in detail the calculation of a target driving path for automatic driving. Here, in the combine described in Patent Document 1, it is conceivable to calculate a target driving path for automatic driving following the direction of the harvest.

[0006] When this combine performs automatic driving along a target driving path in the direction of the mill, the efficiency of the harvesting operation is likely to be improved. For example, self-propelled combines are generally designed so that the efficiency of grain recovery is improved when the harvesting drive is performed in the direction of the mill. Therefore, when the combine is a self-propelled combine, the efficiency of the harvesting operation is improved by performing automatic driving along multiple target driving paths that extend in the direction of the mill.

[0007] Here, the self-propelled combine generally has a plurality of dividers that divide and sweep the planting gaps of the field, and a cutting unit that cuts the planting gaps of the field.

[0008] In a configuration in which a self-propelled combine performs automatic driving along multiple target driving paths extending in the milling direction, a configuration can be conceived in which multiple target driving paths are arranged in parallel at predetermined intervals corresponding to the width of the cutting section. In this configuration, when all target driving paths are completed, the entire field is cut.

[0009] However, in this configuration, when the combine performs a mowing run along the target driving path, it is assumed that a part of the passing range of the mowing unit overlaps with the mowing area. Here, the combine generally drops straw while performing the mowing run. Therefore, straw may be left in the mowing area.

[0010] For this reason, when the overlap between the passing range of the cutting unit and the uncutting area is relatively wide, straw that has fallen into the uncutting area is likely to enter the cutting unit. And when straw enters the cutting unit, the efficiency of the threshing process in the combine is likely to decrease.

[0011] The objective of the present invention is to provide an automatic driving system that makes it easy to avoid a situation where the width of the passing range of the cutting unit and the overlapping range of the cutting area becomes relatively wide.

[0012] In addition, if the position of the target driving path in the direction of the mill is misaligned from the appropriate position, the efficiency of the harvesting operation tends to decrease. For example, in the case where the harvester is a self-propelled combine equipped with multiple dividers, if the position of the target driving path in the direction of the mill is misaligned from the appropriate position, a situation is envisioned where the passing position of a certain divider overlaps with the position of the mill. As a result, the divider passes through the rice plants while dividing them, causing harvesting residue to be generated. Consequently, the efficiency of the harvesting operation decreases.

[0013] The objective of the present invention is to provide an automatic driving system in which the position of the target driving path in the direction of the descent is easily positioned at an appropriate location.

[0014] In addition, if the row direction in the field is determined in advance before the harvesting operation in the field begins, a situation is envisioned where the determined row direction differs from the actual row direction.

[0015] In addition, if the predetermined milling direction differs from the actual milling direction, the grain recovery efficiency tends to decrease as automatic driving is performed along the predetermined milling direction.

[0016] In addition, when a combine is controlled to harvest the entire unharvested area by repeating automatic driving along the direction of the harvest, the efficiency of the drive tends to be good when the harvesting driving is performed along the actual direction of the harvest.

[0017] Here, in a configuration where the direction of harvesting in the packaging is determined in advance before the harvesting operation in the packaging begins, as described above, a situation is assumed where the determined direction of harvesting differs from the actual direction of harvesting.

[0018] In addition, if the predetermined driving direction differs from the actual driving direction, driving efficiency tends to decrease as automatic driving is performed along the predetermined driving direction.

[0019] The objective of the present invention is to provide an automatic driving system that facilitates improved threshing efficiency and driving efficiency. means of solving the problem

[0020] The feature of the present invention is an automatic driving system for managing the automatic driving of a combine having a plurality of dividers for dividing and sweeping the planting grooves of a package and a cutting unit for cutting the planting grooves of a package, and a path calculation unit for calculating a target driving path for automatic driving following a row direction, wherein the path calculation unit is configured to calculate the target driving path such that a predetermined condition is satisfied when the combine drives along the target driving path, and the predetermined condition is that a predetermined number of dividers from the left end among the plurality of dividers is located to the right of the row located at the left end in the uncut area, and also that a predetermined number of dividers from the right end among the plurality of dividers is located to the left of the row located at the right end in the uncut area.

[0021] With the present invention, by making the predetermined number relatively small, the width of the overlapping range between the passing range of the cutting unit and the cutting area is narrowed relatively easily when the combine travels along the target driving path.

[0022] For example, if a combine is a 6-row harvesting model and has 7 dividers and a predetermined number of 3, when the combine travels along a target path, the third divider from the left is positioned to the right of the row located at the left end of the unharvested area, and the third divider from the right end is positioned to the left of the row located at the right end of the unharvested area. As a result, harvesting travel is performed with 4 rows of unharvested grain located between the second divider from the left end and the second divider from the right end.

[0023] And at this time, when the portion between the left divider and the second divider from the left passes through the uncut area, the passing range of the cutting section and the pre-cut area do not overlap in the left portion of the cutting section. Also, when the portion between the left divider and the second divider from the left passes through the pre-cut area, the width of the overlapping range between the passing range of the cutting section and the pre-cut area in the left portion of the cutting section is 1 set.

[0024] That is, in the left part of the cutting unit, the width of the overlap between the passing range of the cutting unit and the cutting area is 1 set, even in the most cases.

[0025] Likewise, in the right side of the cutting section, the width of the overlap between the passing range of the cutting section and the cutting area is 1 set at most.

[0026] Therefore, in this case, compared to a configuration where the width of the overlapping range between the passing range of the cutting section and the cutting area in the left or right part of the cutting section is 2 or more, the width of the overlapping range between the passing range of the cutting section and the cutting area is narrowed.

[0027] As such, with the present invention, when a combine travels along a target driving path, the width of the overlapping range between the passing range of the cutting unit and the cutting area is narrowed relatively easily. By doing so, it is possible to realize an automatic driving system that is easy to avoid a situation where the overlapping range between the passing range of the cutting unit and the cutting area becomes relatively wide.

[0028] In addition, in the present invention, the predetermined number is suitable if it is 3.

[0029] With this configuration, compared to cases where the predetermined number is four or more, the width of the overlap between the passing range of the cutting section and the pre-cutting area is likely to be narrowed. Therefore, it is easy to reliably avoid a situation where the width of the overlap between the passing range of the cutting section and the pre-cutting area becomes relatively wide.

[0030] In addition, the present invention is equipped with a row count calculation unit that calculates the row count of the unharvested area, and the path calculation unit calculates the target driving path based on the calculation result of the row count calculation unit and the row count of the combine harvester.

[0031] When the combine travels along the target travel path, the location of the target travel path where certain conditions are satisfied depends on the number of rows in the unharvested area and the number of rows of the combine harvester.

[0032] Here, according to the above configuration, the target driving path is calculated based on the number of rows in the unharvested area and the number of rows harvested by the combine. Therefore, compared to a configuration in which the target driving path is calculated independently of the number of rows in the unharvested area and the number of rows harvested by the combine, the location of the target driving path is more likely to be an appropriate location.

[0033] The feature of the present invention is an automatic driving system that manages the automatic driving of a harvester for harvesting crops in a field by means of a first harvesting drive performed by manual driving in an outer area of ​​the field and a second harvesting drive performed by automatic driving in an area inside the field rather than the outer area after the first harvesting drive, and comprises a path calculation unit that calculates a target driving path for the second harvesting drive, wherein the path calculation unit calculates a row direction path, which is the target driving path in the row direction for the second harvesting drive, based on a passing reference position, which is a position where a predetermined part of the harvester has passed during the harvesting drive in the row direction in the first harvesting drive.

[0034] In the present invention, during the first harvesting run, the operator performs the harvesting run in the direction of the rows while visually confirming the position of the rows in the field. Therefore, during the harvesting run in the direction of the rows in the first harvesting run, the position where a specific part of the harvester passes is likely to correspond to the position of the rows in the field.

[0035] Furthermore, according to the present invention, a milling direction path, which is a target driving path in the milling direction for a second harvesting drive, is calculated based on the position where a predetermined part of the harvester passes during the harvesting drive in the milling direction of the first harvesting drive. Therefore, the position of the milling direction path is likely to be a position corresponding to the position of the mill in the field. As a result, the position of the milling direction path is likely to be an appropriate position.

[0036] Therefore, with the present invention, it is possible to realize an automatic driving system in which the position of the target driving path in the direction of the move is easily positioned at an appropriate location.

[0037] In addition, in the present invention, the harvester has a plurality of dividers that divide and sweep the planting space of the packaging, and the predetermined portion is suitable if it is a divider located at the left or right end among the plurality of dividers.

[0038] Generally, when a harvester has multiple dividers that divide and sweep the rows of a field, the operator manually operates the harvester to maintain the position of the divider located at the left or right end among the multiple dividers and the position of the row in the field in a predetermined positional relationship when performing harvesting travel in the row direction.

[0039] Therefore, with the above configuration, the position where the divider located at the left or right end among the plurality of dividers passes during the harvesting drive in the row direction of the first harvesting drive, and the position of the row in the packaging are likely to have a predetermined positional relationship.

[0040] Therefore, in the first harvesting drive, by calculating the rowing direction path based on the position where the divider located at the left or right end among the multiple dividers has passed during the harvesting drive in the rowing direction, the position of the row in the pavement is easily reflected with high precision in the position of the rowing direction path. As a result, the position of the target driving path in the rowing direction is easily set to an appropriate position.

[0041] In addition, in the present invention, the harvester is a combine having a cutting unit that cuts the planted grains of the field, and the path calculation unit is suitable for determining the distance between the passing reference position and the row direction path based on the number of cutting rows of the harvester.

[0042] The more cutting rows there are during the harvest season, the longer the appropriate distance between the passing reference position and the row direction path becomes.

[0043] Here, according to the above configuration, the distance between the passing reference position and the row direction path is determined based on the number of harvesting rows of the harvester. By this, the distance between the passing reference position and the row direction path is easily determined to be an appropriate length.

[0044] In addition, the present invention is provided with a row interval acquisition unit that acquires row interval information, which is information indicating the row interval in packaging, and the path calculation unit determines the distance between the passing reference position and the row direction path based on the row interval information.

[0045] The wider the spacing between rows in the pavement, the longer the appropriate distance between the passing reference position and the row direction path becomes.

[0046] Here, according to the above configuration, the distance between the passing reference position and the directional path is determined based on directional information. By this, the distance between the passing reference position and the directional path is easily determined to be an appropriate length.

[0047] In addition, in the present invention, the harvester is a combine having a cutting unit for cutting the planted grain rows of a field, and the path calculation unit is configured to calculate a plurality of row-direction paths arranged in parallel at a predetermined first interval, and the path calculation unit determines the first interval based on the number of cutting rows of the harvester.

[0048] The more cutting rows there are during the harvest season, the wider the appropriate spacing between row-direction paths becomes.

[0049] Here, according to the above configuration, the spacing between row-direction paths is determined based on the number of harvesting rows during the harvesting season. This makes it easy to determine the spacing between row-direction paths to an appropriate width.

[0050] In addition, the present invention comprises a row interval acquisition unit that acquires row interval information, which is information indicating the row interval in packaging, and the path calculation unit is configured to calculate a plurality of row direction paths arranged in parallel at a predetermined first interval, and the path calculation unit determines the first interval based on the row interval information.

[0051] The wider the spacing between rows in the pavement, the wider the appropriate spacing between row-direction paths becomes.

[0052] Here, according to the above configuration, the spacing between row-direction paths is determined based on row-direction information. By this, the spacing between row-direction paths is easily determined to an appropriate width.

[0053] The feature of the present invention is an automatic driving system that manages automatic driving of a combine harvester performing a cutting drive in a rectangular uncut area in packaging, comprising a selection unit that selects one of four sides constituting the outline of the uncut area, a determination unit that determines whether the slope of the side opposite the selected side is less than or equal to a predetermined reference angle with respect to the selected side selected by the selection unit, and a cutting direction determination unit that determines the cutting direction in the uncut area, wherein if the determination unit determines that the slope is greater than the reference angle, the cutting direction determination unit determines the direction in which the selected side extends as the cutting direction, and if the determination unit determines that the slope is less than or equal to the reference angle, the cutting direction determination unit determines either the direction in which the selected side extends or the direction in which the side opposite the selected side extends as the cutting direction according to the state of the machine.

[0054] With the present invention, an operator can realize a configuration in which one side is selected by a selection unit by visually confirming the actual milling direction in packaging. Therefore, the direction in which the selected side extends is likely to coincide with the actual milling direction. Furthermore, when the inclination of the side opposite to the selected side relative to the selected side is greater than the reference angle, the direction in which the selected side extends is determined as the milling direction. Therefore, when the inclination of the side opposite to the selected side relative to the selected side is greater than the reference angle, the threshing efficiency and driving efficiency are likely to be improved when automatic driving is performed along the determined milling direction.

[0055] Furthermore, if the inclination of the opposite side of the selected side relative to the selected side is determined to be less than or equal to the reference angle, either the direction in which the selected side extends or the direction in which the opposite side extends is determined as the milling direction. In this case, if the direction in which the selected side extends is determined as the milling direction, the determined milling direction is likely to coincide with the actual milling direction. Additionally, if the direction in which the opposite side extends is determined as the milling direction, the difference between the determined milling direction and the actual milling direction is likely to be relatively small. Therefore, even if the inclination of the opposite side of the selected side relative to the selected side is less than or equal to the reference angle, the threshing efficiency and driving efficiency tend to be good when automatic driving is performed along the determined milling direction.

[0056] Furthermore, when the inclination of the side opposite the selected side with respect to the selected side is less than or equal to a reference angle, either the direction in which the selected side extends or the direction in which the side opposite the selected side extends is determined as the driving direction according to the state of the gas. By doing so, it is possible to realize a configuration in which, from the direction in which the selected side extends and the direction in which the side opposite the selected side extends, the direction in which driving efficiency is more likely to be improved is determined as the driving direction according to the state of the gas.

[0057] Therefore, with the present invention, it is possible to realize an automatic driving system in which threshing efficiency and driving efficiency are easily improved.

[0058] In addition, the present invention is equipped with a driving control unit that controls the driving of the combine so that a spiral driving, which cuts the outer periphery of the uncut area in a spiral shape, and a reciprocating driving, which repeats cutting while moving forward and changing direction by a U-turn, are performed. The driving control unit controls the driving of the combine so that it transitions to the reciprocating driving after the spiral driving, and in the reciprocating driving, it is suitable to control the driving of the combine so that cutting is performed along the direction determined as the row direction by the row direction determining unit.

[0059] With this configuration, the combine's movement transitions to reciprocating movement after spiral movement. During reciprocating movement, the harvesting movement is performed along the determined milling direction. As a result, compared to cases where the harvesting movement during reciprocating movement is performed along a direction other than the determined milling direction, the threshing efficiency and movement efficiency tend to be improved.

[0060] In addition, the present invention comprises a path calculation unit for calculating a target driving path for the vortex driving and the reciprocating driving, wherein the path calculation unit calculates as the target driving path a plurality of first paths arranged at predetermined intervals parallel to the first side of the selected variable, a plurality of second paths arranged at predetermined intervals parallel to the second side adjacent to the first side in the contour, a plurality of third paths arranged at predetermined intervals parallel to the third side opposite the selected side, and a plurality of fourth paths arranged at predetermined intervals parallel to the fourth side opposite the second side in the contour. The driving control unit, in the vortex driving, performs a mowing driving following the first path followed by a mowing driving following the second path, performs a mowing driving following the second path followed by a mowing driving following the second path, performs a mowing driving following the third path followed by a mowing driving following the third path, performs a mowing driving following the fourth path followed by a mowing driving following the fourth path, and performs a mowing driving following the first path followed by a mowing driving following the fourth path. Controlling the driving of the combine, and when the judgment unit determines that the inclination is less than or equal to the reference angle, and furthermore, when the driving of the combine transitions to the reciprocating driving at the point where the harvesting driving along the first path or the second path in the spiral driving is completed, the row direction determining unit determines the direction in which the opposite side of the selected side extends as the row direction, and the driving control unit controls the driving of the combine so that a harvesting driving along the third path is performed in the reciprocating driving, and when the judgment unit determines that the inclination is less than or equal to the reference angle, and furthermore, when the driving of the combine transitions to the reciprocating driving at the point where the harvesting driving along the third path or the fourth path in the spiral driving is completed, the row direction determining unit determines the direction in which the selected side extends as the row direction, andThe above driving control unit is suitable for controlling the driving of the combine so that, in the reciprocating driving, a harvesting drive along the first path is performed.

[0061] In a configuration where, when the reciprocal drive is performed along a first path, the first mowing drive in the reciprocal drive is performed along the first path closest to the first side among the first paths that have not yet been mowing, and when the reciprocal drive is performed along a third path, the first mowing drive in the reciprocal drive is performed along the third path closest to the third side among the third paths that have not yet been mowing, the efficiency of the drive changes depending on whether the reciprocal drive is performed along the first path or the third path.

[0062] For example, when the combine transitions to a reciprocating drive at the point where the harvesting drive following the first or second path in the spiral drive is completed, if the reciprocating drive is performed along the first path, the driving distance from the point where the spiral drive is completed to the point where the first harvesting drive in the reciprocating drive is started tends to be relatively long.

[0063] Here, according to the above configuration, when the combine's movement transitions to a reciprocating movement at the point where the harvesting movement along the first or second path in the spiral movement is completed, the reciprocating movement is performed along the third path. Additionally, when the combine's movement transitions to a reciprocating movement at the point where the harvesting movement along the third or fourth path in the spiral movement is completed, the reciprocating movement is performed along the first path.

[0064] By this, it is possible to realize a configuration in which the travel distance from the point where the spiral travel is completed to the point where the first mowing travel in the reciprocating travel begins is relatively short. Brief explanation of the drawing

[0065] Figure 1 is a left side view of a combine. Figure 2 is a diagram illustrating the positional relationship between the passing reference position and the direction path. Figure 3 is a diagram illustrating a vortex drive along a mowing drive path. Figure 4 is a diagram illustrating a round trip along a mowing path. Figure 5 is a block diagram illustrating the configuration of the control unit. Figure 6 is a diagram illustrating heavy driving. Figure 7 is a drawing illustrating the state before the position of the directional path in the northern area is recalculated by the shift calculation unit. Figure 8 is a drawing illustrating the state after the position of the directional path in the northern area is recalculated by the shift calculation unit. Figure 9 is a drawing illustrating the state before the position of the directional path in the southern area is recalculated by the shift calculation unit. FIG. 10 is a drawing illustrating the state after the position of the directional path in the southern area is recalculated by the shift calculation unit. FIG. 11 is a drawing illustrating the state before the position of the directional path in the work area is recalculated by the shift calculation unit. FIG. 12 is a drawing illustrating the state after the position of the directional path in the work area is recalculated by the shift calculation unit. Figure 13 is a diagram illustrating a mowing driving path calculated by a path calculation unit. FIG. 14 is a drawing illustrating a display screen in a touch panel. FIG. 15 is a drawing illustrating a display screen in a touch panel. Figure 16 is a diagram illustrating a vortex drive along a mowing drive path. FIG. 17 is a diagram illustrating an example of a case where the drive of a combine transitions to a reciprocating drive at the point when the harvesting drive along the first path in the spiral drive is completed. FIG. 18 is a diagram illustrating an example of a case where the drive of a combine transitions to a reciprocating drive at the point when the harvesting drive following the third path in the spiral drive is completed. Specific details for implementing the invention

[0066] A form for implementing the present invention will be described based on the drawings. Furthermore, in the following description, unless otherwise specifically noted, the forward and backward directions are described as follows. That is, during the operation of the machine, the direction of travel on the forward side is "forward," and the direction of travel on the backward side is "backward." Also, based on the forward orientation in the forward and backward directions, the direction corresponding to the right is "right," and the direction corresponding to the left is "left."

[0067] Also, in the description of Figure 1, the direction of arrow F is referred to as "forward" and the direction of arrow B as "backward".

[0068] Also, the direction of arrow N shown in FIGS. 2 to 4, FIGS. 6 to 13, and FIGS. 16 to 18 is set to “North,” the direction of arrow S is set to “South,” the direction of arrow E is set to “East,” and the direction of arrow W is set to “West.”

[0069] [Overall Components of the Combine]

[0070] As illustrated in FIG. 1, a self-propelled combine (1; harvester) is equipped with a plurality of dividers (5), a crawler-type driving device (11), a driving unit (12), a threshing device (13), a grain tank (14), a cutting unit H, a straw discharge device (17), a grain discharge device (18), and a satellite positioning module (80).

[0071] The driving device (11) is provided at the bottom of the combine (1). The driving device (11) is also driven by power from an engine (not shown). The combine (1) is also driven by the driving device (11).

[0072] In addition, the driving unit (12), threshing device (13), and grain tank (14) are provided on the upper side of the driving device (11). An operator who monitors the operation of the combine (1) can ride in the driving unit (12). In addition, the operator may monitor the operation of the combine (1) from outside the combine (1).

[0073] The grain discharge device (18) is connected to the grain tank (14). Additionally, a satellite positioning module (80) is installed on the upper surface of the driving unit (12).

[0074] Multiple dividers (5) are provided in the shear section of the combine (1).

[0075] As shown in FIG. 2, the combine (1) is equipped with a first divider (51), a second divider (52), a third divider (53), a fourth divider (54), a fifth divider (55), a sixth divider (56), and a seventh divider (57). The first divider (51), the second divider (52), the third divider (53), the fourth divider (54), the fifth divider (55), the sixth divider (56), and the seventh divider (57) are all dividers (5).

[0076] These dividers (5) are arranged in the order of the first divider (51), second divider (52), third divider (53), fourth divider (54), fifth divider (55), sixth divider (56), and seventh divider (57) from the left side of the body.

[0077] And these dividers (5) divide and sweep the planting spaces of the packaging.

[0078] That is, the combine (1) has multiple dividers (5) that divide and sweep the planting space of the packaging.

[0079] As shown in FIG. 1, the cutting unit H is provided in the front part of the combine (1). The cutting unit H has a clipper-type cutting device (15) and a conveying device (16).

[0080] The cutting device (15) cuts the base of the planting shaft that has been divided and swept by a plurality of dividers (5). Then, the conveying device (16) conveys the shaft cut by the cutting device (15) to the rear.

[0081] With this configuration, the cutting unit H cuts the planted grains of the pavement. The combine (1) is capable of cutting and driving by the driving device (11) while cutting the planted grains of the pavement by the cutting unit H.

[0082] That is, the combine (1) has a cutting unit H that cuts the planting of the packaging.

[0083] The grains returned by the return device (16) are threshed in the threshing device (13). The grains obtained by the threshing process are stored in the grain tank (14). The grains stored in the grain tank (14) are discharged outside the machine by the grain discharge device (18) as needed.

[0084] In addition, a straw discharge device (17) is provided at the rear end of the combine (1). The straw discharge device (17) discharges the straw from which grains have been separated by threshing treatment to the rear of the machine.

[0085] In addition, in this embodiment, the straw discharge device (17) can discharge the straw after shredding it with a cutter (not shown). In addition, the straw discharge device (17) can discharge the straw without shredding it.

[0086] Additionally, a communication terminal (4) (see FIG. 5) is provided in the driving unit (12). The communication terminal (4) is configured to display various information. In this embodiment, the communication terminal (4) is fixed to the driving unit (12). However, the present invention is not limited thereto, and the communication terminal (4) may be configured to be detachable from the driving unit (12), and the communication terminal (4) may be located outside the combine (1).

[0087] Here, the combine (1) is configured to harvest grain in the field by performing a circular run while harvesting grain in the outer periphery area of ​​the field as shown in FIG. 2, and then performing a cutting run in the inner area of ​​the field as shown in FIG. 3 and FIG. 4.

[0088] In this embodiment, the circular driving shown in FIG. 2 is performed by manual driving. In addition, the mowing driving in the inner area shown in FIG. 3 and FIG. 4 is performed by automatic driving.

[0089] Furthermore, the present invention is not limited thereto, and the circular driving shown in FIG. 2 may be performed by automatic driving. Also, the mowing driving in the inner area shown in FIG. 3 and FIG. 4 may be performed by manual driving.

[0090] In addition, the operator can change the rotational speed of the engine by operating the communication terminal (4).

[0091] The appropriate working speed varies depending on the condition of the crop. If the operator operates the communication terminal (4) to set the engine's rotational speed to an appropriate rotational speed, the work can be performed at a working speed suitable for the condition of the crop.

[0092] In the harvesting operation in the field, the combine (1) is controlled by an automatic driving system A (see FIG. 5). That is, the automatic driving system A manages the automatic driving of the combine (1). Below, the configuration of the automatic driving system A will be described.

[0093] [Components of the Automatic Driving System]

[0094] As illustrated in FIG. 5, the automatic driving system A is equipped with a control unit (20) and a satellite positioning module (80). In addition, the control unit (20) is provided in the combine (1). Also, as described above, the satellite positioning module (80) is also provided in the combine (1).

[0095] The control unit (20) has a vehicle location calculation unit (21), an area calculation unit (22), a path calculation unit (23), and a driving control unit (24).

[0096] The satellite positioning module (80) receives GPS signals from satellites used in the Global Positioning System (GPS). And as shown in FIG. 5, the satellite positioning module (80) sends positioning data indicating the self-position of the combine (1) based on the received GPS signals to the self-position calculation unit (21).

[0097] The vehicle position calculation unit (21) calculates the position coordinates of the combine (1) over time based on positioning data output by the satellite positioning module (80). The calculated position coordinates of the combine (1) over time are sent to the area calculation unit (22) and the driving control unit (24).

[0098] The area calculation unit (22) calculates the outer area SA and the work target area CA as shown in FIG. 3, based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21).

[0099] More specifically, the area calculation unit (22) calculates the driving trajectory of the combine (1) during a circular drive on the outer side of the pavement based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21). Then, the area calculation unit (22) calculates the area on the outer side of the pavement where the combine (1) drove circularly while harvesting grain as the outer area SA based on the calculated driving trajectory of the combine (1). In addition, the area calculation unit (22) calculates the area on the inner side of the pavement from the calculated outer area SA as the work target area CA.

[0100] For example, in the upper part of FIG. 2, the driving path of the combine (1) for circular driving on the outer side of the pavement is indicated by an arrow. In the example shown in FIG. 2, the combine (1) performs three circular drivings. And when the harvesting driving along this driving path is completed, the pavement becomes the state shown in FIG. 3.

[0101] As illustrated in FIG. 3, the area calculation unit (22) calculates the area on the outer side of the packaging where the combine (1) travels around while harvesting grain as the outer area SA. Additionally, the area calculation unit (22) calculates the area on the inner side of the packaging, which is larger than the calculated outer area SA, as the work target area CA.

[0102] And as illustrated in FIG. 5, the calculation result by the area calculation unit (22) is sent to the path calculation unit (23).

[0103] The path calculation unit (23) calculates a mowing drive path LN (equivalent to the 'target drive path' according to the present invention), which is a drive path for mowing drive in the work target area CA, as shown in FIG. 3, based on the calculation result received from the area calculation unit (22). Also, as shown in FIG. 3, in this embodiment, the mowing drive path LN is a plurality of mesh lines extending in the longitudinal and transverse directions. Additionally, the plurality of mesh lines do not have to be straight and may be curved.

[0104] As shown in FIG. 5, the cutting driving path LN calculated by the path calculation unit (23) is sent to the driving control unit (24).

[0105] The driving control unit (24) is configured to control the driving device (11). The driving control unit (24) controls the automatic driving of the combine (1) based on the position coordinates of the combine (1) received from the vehicle position calculation unit (21) and the harvesting driving path LN received from the path calculation unit (23). More specifically, the driving control unit (24) controls the driving of the combine (1) so that harvesting driving is performed by automatic driving along the harvesting driving path LN, as shown in FIGS. 3 and 4.

[0106] That is, the combine (1) can drive automatically.

[0107] [Flow of Harvesting Operations by Combine]

[0108] Below, as an example of a harvesting operation by a combine (1), the flow of a case where the combine (1) performs a harvesting operation in a field shown in FIG. 2 will be explained.

[0109] In this embodiment, the combine (1) is configured to harvest grain (equivalent to ‘crop’ according to the present invention) from a field by means of a first harvest drive and a second harvest drive. In addition, the first harvest drive is a harvest drive performed by manual driving in the outer perimeter area SA of the field. In addition, the second harvest drive is a harvest drive performed by automatic driving in the inner area of ​​the field, rather than the outer perimeter area SA, after the first harvest drive.

[0110] At first, the operator manually operates the combine (1) to perform a mowing run along the boundary line BD of the pavement on the outer perimeter of the pavement, as shown in FIG. 2. In the example shown in FIG. 2, the combine (1) performs three round runs. When this round run is completed, the pavement is in the state shown in FIG. 3.

[0111] The area calculation unit (22) calculates the driving trajectory of the combine (1) during the circular driving shown in FIG. 2 based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21). Then, as shown in FIG. 3, the area calculation unit (22) calculates the area on the outer side of the pavement where the combine (1) drove circularly while harvesting the planting area, based on the calculated driving trajectory of the combine (1), as the outer area SA. In addition, the area calculation unit (22) calculates the area on the inner side of the pavement, which is larger than the calculated outer area SA, as the work target area CA.

[0112] Next, the path calculation unit (23) calculates the cutting driving path LN in the work target area CA based on the calculation result received from the area calculation unit (22), as shown in FIG. 3.

[0113] Then, when the operator presses the automatic driving start button (not shown), automatic driving along the harvesting driving path LN is started as shown in FIG. 3. At this time, the driving control unit (24) controls the driving of the combine (1) so that the harvesting driving is performed by automatic driving along the harvesting driving path LN.

[0114] When automatic driving is initiated in the work target area CA, as shown in FIG. 3, the combine (1) first performs a mowing drive in the outer periphery of the work target area CA, moving along the outer shape of the work target area CA. At this time, the combine (1) repeats driving along the mowing drive path LN and changing direction by α-turn. By doing so, the combine (1) mowing drives in a spiral shape in the outer periphery of the un-mowing area of ​​the work target area CA.

[0115] Also, below, this spiral-type mowing run is referred to as "swirl run."

[0116] In FIG. 3, the direction change by α-turn is performed only three times, but the direction change by α-turn may be performed four or more times. That is, the spiral drive may be performed over a longer driving distance than the example shown in FIG. 3. For example, the spiral drive may be performed until the combine (1) has completed two runs.

[0117] When the spiral drive is completed, the combine (1) performs a mowing drive that covers the entire unharvested area of ​​the work target area CA by repeating the mowing drive that is performed while advancing along the mowing drive path LN and the direction change by U-turn.

[0118] In addition, below, driving that involves repeatedly mowing while moving forward and changing direction by U-turn is referred to as “reciprocal driving.”

[0119] That is, the driving control unit (24) controls the driving of the combine (1) to transition to reciprocating driving after spiral driving.

[0120] In this way, the automatic driving system A is equipped with a driving control unit (24) that controls the driving of the combine (1) so that a spiral driving, which cuts the outer periphery of the uncut area in a spiral shape, and a reciprocating driving, which repeats cutting while moving forward and changing direction by U-turn, are performed.

[0121] Additionally, the automatic driving system A is equipped with a path calculation unit (23) that calculates a cutting driving path LN for spiral driving and reciprocal driving.

[0122] In addition, the spiral drive and the reciprocating drive are included in the second harvest drive described above. That is, the automatic drive system A is equipped with a path calculation unit (23) that calculates the harvest drive path LN for the second harvest drive.

[0123] While the harvesting is being performed by the combine (1), the harvested grain stalks harvested by the cutting device (15) as described above are conveyed to the threshing device (13) by the conveying device (16). Then, in the threshing device (13), the harvested grain stalks are threshed.

[0124] [Configuration regarding the calculation of the directional path]

[0125] As illustrated in FIGS. 3 and 4, the harvesting travel path LN includes a plurality of row direction paths LA (corresponding to the "target travel path" according to the present invention) and a plurality of transverse direction paths LB. Each row direction path LA is a harvesting travel path LN in the row direction for the second harvesting travel described above. Additionally, each transverse direction path LB is a harvesting travel path LN in a direction intersecting the row direction for the second harvesting travel.

[0126] That is, the path calculation unit (23) calculates a plurality of directional paths LA for automatic driving following the directional path. In addition, the path calculation unit (23) calculates a plurality of lateral paths LB for automatic driving in a direction intersecting the directional path.

[0127] That is, the automatic driving system A is equipped with a path calculation unit (23) that calculates a path LA for automatic driving following a path direction.

[0128] Also, the lateral path LB may or may not be orthogonal to the lateral path LA.

[0129] In addition, as illustrated in FIG. 5, the control unit (20) has a passing reference position calculation unit (25). The satellite positioning module (80) sends positioning data indicating the self-vehicle position of the combine (1) based on the received GPS signal to the passing reference position calculation unit (25).

[0130] The passing reference position calculation unit (25) calculates the passing reference position based on positioning data output by the satellite positioning module (80). The passing reference position is the position where a predetermined part of the combine (1) passes during the harvesting drive in the direction of the first harvesting drive described above.

[0131] In addition, in this embodiment, this predetermined part is the first divider (51). Accordingly, in this embodiment, the passing reference position calculation unit (25) calculates the position where the first divider (51) passed in the harvesting drive in the direction of the first harvesting drive described above, based on the positioning data output by the satellite positioning module (80).

[0132] In addition, the present invention is not limited thereto, and a predetermined part may be a seventh divider (57).

[0133] That is, the designated part is a divider (5) located at the left or right end among the plurality of dividers (5).

[0134] For example, in the lower part of FIG. 2, a combine (1) is shown performing a harvesting run in the milling direction during the first harvesting run. Here, the combine (1) is running the last run of the first harvesting run in the northern part of the field. Also, in the field shown in FIG. 2, the milling direction is the east-west direction.

[0135] A pass line P is shown in the lower part of FIG. 2. The pass line P is the pass position of the first divider (51). That is, in this example, the position of the pass line P is the pass reference position calculated by the pass reference position calculation unit (25).

[0136] As shown in FIG. 5, the pass reference position calculated by the pass reference position calculation unit (25) is sent to the path calculation unit (23).

[0137] The path calculation unit (23) calculates the path LA in the direction of the pass based on the pass reference position calculated by the pass reference position calculation unit (25).

[0138] To explain in detail, the path calculation unit (23) determines the location of the northernmost directional path LA in the work target area CA, as shown in FIG. 2, to be a location that is a first distance DF away from the passing reference location. That is, among the plurality of directional path LAs, the northernmost directional path LA is located at a location that is a first distance DF away from the passing line P.

[0139] And the path calculation unit (23) calculates a plurality of parallel path LAs arranged such that the spacing between the path LAs is a predetermined first spacing D1, as shown in FIG. 3. That is, the path calculation unit (23) is configured to calculate a plurality of parallel path LAs arranged such that the spacing between the path LAs is a predetermined first spacing D1.

[0140] Below, the first distance DF and the first interval D1 will be described in detail. As shown in FIG. 5, the control unit (20) has a model information storage unit (26) and a group interval acquisition unit (27). In addition, the path calculation unit (23) has a distance calculation unit (23a).

[0141] The model information storage unit (26) stores various information regarding the specifications of the combine (1). Here, the information stored in the model information storage unit (26) includes the number of harvesting rows of the combine (1). The route calculation unit (23) obtains the number of harvesting rows of the combine (1) from the model information storage unit (26). In addition, in this embodiment, the number of harvesting rows of the combine (1) is 6 rows.

[0142] The row spacing acquisition unit (27) acquires row spacing information from a management server (6) located outside the combine (1). Row spacing information is information indicating the row spacing in the packaging. In addition, the row spacing in the packaging shown in FIGS. 2 to 4 is G1 as shown in the lower part of FIG. 2. That is, in this packaging, a plurality of rows are arranged in a north-south direction with a spacing of G1 from each other.

[0143] That is, the automatic driving system A is equipped with a row interval acquisition unit (27) that acquires row interval information, which is information indicating the row interval in the packaging.

[0144] As illustrated in FIG. 5, the group acquisition unit (27) sends the acquired group information to the path calculation unit (23).

[0145] Then, the distance calculation unit (23a) calculates an appropriate first distance DF based on the number of rows of the combine (1) obtained from the machine type information storage unit (26) and the row-to-row information obtained from the row-to-row acquisition unit (27). By this, the path calculation unit (23) determines the first distance DF.

[0146] That is, the path calculation unit (23) determines the distance between the passing reference position and the row direction path LA based on the number of rows harvested by the combine (1). In addition, the path calculation unit (23) determines the distance between the passing reference position and the row direction path LA based on row information.

[0147] Additionally, the distance calculation unit (23a) calculates the first distance DF such that the first distance DF becomes longer as the number of harvesting rows of the combine (1) increases. Additionally, the distance calculation unit (23a) calculates the first distance DF such that the first distance DF becomes longer as the row spacing indicated by row spacing information increases.

[0148] Additionally, as illustrated in FIG. 5, the control unit (20) has a first interval calculation unit (23b). The first interval calculation unit (23b) calculates an appropriate first interval D1 based on the number of rows of the combine (1) obtained from the model information storage unit (26) and the row information obtained from the row interval acquisition unit (27). By this, the path calculation unit (23) determines the first interval D1.

[0149] That is, the path calculation unit (23) determines the first interval D1 based on the number of harvesting rows of the combine (1). In addition, the path calculation unit (23) determines the first interval D1 based on row information.

[0150] In addition, the first interval calculation unit (23b) calculates the first interval D1 such that the first interval D1 becomes wider as the number of harvesting rows of the combine (1) increases. In addition, the first interval calculation unit (23b) calculates the first interval D1 such that the first interval D1 becomes wider as the row spacing indicated by row spacing information becomes wider.

[0151] [Configuration regarding the calculation of the lateral path]

[0152] As shown in FIG. 3, the path calculation unit (23) calculates a plurality of lateral path LBs arranged in parallel such that the spacing between lateral path LBs becomes a predetermined second spacing D2. That is, the path calculation unit (23) is configured to calculate a plurality of lateral path LBs arranged in parallel with a predetermined second spacing D2.

[0153] Below, the second interval D2 will be described in detail. As shown in FIG. 5, the path calculation unit (23) has a second interval calculation unit (23c).

[0154] In addition, the information stored in the machine information storage unit (26) includes the cutting width of the combine (1). The path calculation unit (23) obtains the cutting width of the combine (1) from the machine information storage unit (26). In addition, in this embodiment, the cutting width of the combine (1) is the distance between the first divider (51) and the seventh divider (57) in the machine's lateral width direction.

[0155] The second interval calculation unit (23c) calculates an appropriate second interval D2 based on the cutting width of the combine (1) obtained from the model information storage unit (26). By this, the path calculation unit (23) determines the second interval D2.

[0156] That is, the path calculation unit (23) determines the second interval D2 based on the cutting width of the combine (1).

[0157] In addition, the second gap calculation unit (23c) calculates the second gap D2 such that the wider the cutting width of the combine (1), the wider the second gap D2 becomes.

[0158] [Configuration regarding shift in the direction path]

[0159] As illustrated in FIG. 5, the path calculation unit (23) has a shift calculation unit (23d). Below, the function of the shift calculation unit (23d) will be explained.

[0160] As illustrated in FIG. 5, the control unit (20) has a tide count calculation unit (28). The tide count calculation unit (28) is configured to calculate the tide count of the unharvested area in the packaging.

[0161] The row count calculation unit (28) will be explained in detail. While the combine (1) is performing a harvesting drive by manual driving or automatic driving, the vehicle position calculation unit (21) calculates the position coordinates of the combine (1) over time based on positioning data output by the satellite positioning module (80). The calculated position coordinates of the combine (1) over time are sent to the row count calculation unit (28).

[0162] In addition, the group acquisition unit (27) sends the group information acquired from the management server (6) to the group calculation unit (28).

[0163] And the row count calculation unit (28) calculates the range of the unharvested area in the packaging over time based on the time-dependent position coordinates of the combine (1) received from the vehicle position calculation unit (21). In addition, the row count calculation unit (28) calculates the row count of the unharvested area over time based on the calculated range of the unharvested area and the row-independent information received from the row-independent acquisition unit (27).

[0164] That is, the automatic driving system A is equipped with a number of calculation unit (28) that calculates the number of tides in the unforeseen area.

[0165] The calculation result by the row count calculation unit (28) is sent to the shift calculation unit (23d). Then, the shift calculation unit (23d) calculates the row direction path LA based on the calculation result received from the row count calculation unit (28) and the number of rows of the combine (1) obtained from the model information memory unit (26).

[0166] That is, the path calculation unit (23) calculates the row direction path LA based on the calculation result of the row number calculation unit (28) and the row number of the combine (1).

[0167] At this time, the shift calculation unit (23d) calculates the directional path LA such that a predetermined condition is satisfied when the combine (1) travels along the directional path LA.

[0168] And this predetermined condition is that among the plurality of dividers (5), the predetermined number of dividers (5) from the left end is located to the right of the row located at the left end in the uncut area, and also the predetermined number of dividers (5) from the right end among the plurality of dividers (5) is located to the left of the row located at the right end in the uncut area.

[0169] In addition, in this embodiment, the number of pieces is three. That is, in this embodiment, the condition is that the third divider (53) is located to the right of the piece located at the left end of the uncut area, and the fifth divider (55) is located to the left of the piece located at the right end of the uncut area.

[0170] More specifically, after a plurality of row direction paths LA arranged in parallel at the first interval D1 as described above are calculated, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (1) travels along the row direction path LA. In addition, this determination is made based on the calculation result of the row count calculation unit (28) and the number of rows harvested by the combine (1). In addition, this determination is made immediately after the plurality of row direction paths LA arranged in parallel at the first interval D1 are calculated, and when the combine (1) is traveling along the row direction path LA.

[0171] And when it is determined that a predetermined condition is not always satisfied when the combine (1) travels along the row direction path LA, the shift calculation unit (23d) recalculates the position of one or more row direction paths LA among the multiple row direction paths LA. At this time, the shift calculation unit (23d) recalculates the position of the row direction path LA so that the predetermined condition is always satisfied when the combine (1) travels along the row direction path LA. By doing so, the position of one or more row direction paths LA among the multiple row direction paths LA is shifted.

[0172] In this way, the path calculation unit (23) is configured to calculate the path LA in the direction of the harvester so that a predetermined condition is satisfied when the combine (1) travels along the path LA in the direction of the harvester.

[0173] Below, as an example in which the position of the direction path LA is recalculated by the shift calculation unit (23d), the flow of the case in which the combine (1) performs a harvesting operation in the field shown in FIG. 6 is described.

[0174] In the packaging shown in FIG. 6, the milling direction is east-west. Also, in this example, the combine (1) completes the spiral drive in the work target area CA and intends to transition to a reciprocating drive. At this time, as shown in FIG. 6, the combine (1) passes from west to east while cutting the middle part of the north-south direction in the uncut area. This cutting drive is a so-called heavy-duty drive. By doing so, the uncut area is divided into two uncut areas: the northern area CA1 and the southern area CA2.

[0175] And at this time, as shown in Fig. 7, three directional paths LA, the first directional path LA1, the second directional path LA2, and the third directional path LA3, have already been calculated as directional paths LA corresponding to the northern area CA1.

[0176] In addition, the first direction path LA1, the second direction path LA2, and the third direction path LA3 are listed in order from the north. Also, these three direction paths LA are listed with a first interval D1 between them.

[0177] As shown in FIG. 7, the number of rows in the northern area CA1 is 16. At this time, the number of rows in the northern area CA1 is calculated by the row number calculation unit (28) and sent to the shift calculation unit (23d). At this time, the route calculation unit (23) has already obtained the number of harvesting rows of the combine (1) from the machine type information storage unit (26).

[0178] Here, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (1) travels along the row direction path LA in the northern area CA1. More specifically, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (1) travels in the order of the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2, as shown in FIG. 7.

[0179] In addition, in this embodiment, the driving control unit (24) is configured to control the driving of the combine (1) so that when performing reciprocal driving, it performs a cutting drive along the cutting direction path LA corresponding to the rightmost part of the uncut area.

[0180] For example, as illustrated in FIG. 7, when the combine (1) drives for harvesting in the order of the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2, the combine (1) first drives for harvesting along the first row direction path LA1. By doing so, as illustrated in FIG. 7, the unharvested area in the northern area CA1 becomes the first unharvested area CA11. The number of rows in the first unharvested area CA11 is 10 rows.

[0181] Next, the combine (1) performs a harvesting run along the third row direction path LA3. As a result, as shown in FIG. 7, the unharvested area in the northern area CA1 becomes the second unharvested area CA12. The number of rows in the second unharvested area CA12 is 6 rows.

[0182] Finally, the combine (1) performs a mowing run along the second direction path LA2. By doing so, the entire northern area CA1 becomes a mowing area.

[0183] Here, when the combine (1) performs a harvesting run along the first row direction path LA1, the row located at the right end in the unharvested area is located at the first position Q1 shown in FIG. 7. Also, at this time, the row located at the left end in the unharvested area is located at the second position Q2 shown in FIG. 7.

[0184] And at this time, the third divider (53) is located to the right of the second position Q2. Also, the fifth divider (55) is located to the left of the first position Q1. Therefore, while the combine (1) is performing a harvesting drive along the first row direction path LA1, the above-described predetermined conditions are satisfied.

[0185] Next, when the combine (1) performs a harvesting run along the third row direction path LA3, the row located at the right end in the unharvested area is located at the second position Q2 shown in FIG. 7. Also, at this time, the row located at the left end in the unharvested area is located at the third position Q3 shown in FIG. 7.

[0186] And at this time, the third divider (53) is located to the right of the third position Q3. However, the fifth divider (55) is located to the right of the second position Q2. Therefore, while the combine (1) is performing a harvesting drive along the third row direction path LA3, the above-described predetermined conditions are not satisfied.

[0187] For this reason, the shift calculation unit (23d) determines that the predetermined condition is not always satisfied when the combine (1) drives in the order of the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2. In addition, this determination is made before the combine (1) starts driving along the first row direction path LA1.

[0188] As a result, the shift calculation unit (23d) recalculates the position of the third direction path LA3 as shown in FIG. 8. In this example, the position of the third direction path LA3 is shifted to the north. By doing so, the distance between the second direction path LA2 and the third direction path LA3 becomes the first shift distance DS1.

[0189] Also, the first shift interval DS1 is narrower than the first interval D1.

[0190] And in this example, by shifting the position of the third direction path LA3 to the north, a predetermined condition is always satisfied when the combine (1) travels along the direction path LA.

[0191] To explain in detail, as shown in FIG. 8, when the combine (1) performs a harvesting run along the first row direction path LA1, the row located at the right end in the unharvested area is located at the first position Q1 shown in FIG. 8. Also, at this time, the row located at the left end in the unharvested area is located at the second position Q2 shown in FIG. 8.

[0192] And at this time, the third divider (53) is located to the right of the second position Q2. Also, the fifth divider (55) is located to the left of the first position Q1. Therefore, while the combine (1) is performing a harvesting drive along the first row direction path LA1, the above-described predetermined conditions are satisfied.

[0193] Next, when the combine (1) performs a harvesting run along the third row direction path LA3, the row located at the right end in the unharvested area is located at the second position Q2 shown in FIG. 8. Also, at this time, the row located at the left end in the unharvested area is located at the third position Q3 shown in FIG. 8.

[0194] And at this time, the third divider (53) is located to the right of the third position Q3. Also, the fifth divider (55) is located to the left of the second position Q2. Therefore, while the combine (1) is performing a harvesting drive along the third row direction path LA3, the above-described predetermined conditions are satisfied.

[0195] Finally, when the combine (1) performs a harvesting run along the second row direction path LA2, the row located at the right end in the unharvested area is located at the third position Q3 shown in FIG. 8. Also, at this time, the row located at the left end in the unharvested area is located at the fourth position Q4 shown in FIG. 8.

[0196] And at this time, the third divider (53) is located to the right of the fourth position Q4. Also, the fifth divider (55) is located to the left of the third position Q3. Therefore, while the combine (1) is performing a harvesting drive along the second row direction path LA2, the above-described predetermined conditions are satisfied.

[0197] In this way, in the example illustrated in FIG. 8, a predetermined condition is always satisfied when the combine (1) travels along the path LA in the direction of the harvest.

[0198] Then, after completing the harvesting run in the northern area CA1, the combine (1) begins the harvesting run in the southern area CA2. At this time, as shown in FIG. 9, three row direction paths LA corresponding to the southern area CA2 have already been calculated: the 4th row direction path LA4, the 5th row direction path LA5, and the 6th row direction path LA6.

[0199] In addition, the 4th direction path LA4, the 5th direction path LA5, and the 6th direction path LA6 are listed in order from the north. Also, these three 3rd direction paths LA are listed with a first interval D1 between them.

[0200] Also, as shown in FIG. 9, the number of rows in the southern area CA2 is 15. At this time, the number of rows in the southern area CA2 is calculated by the row number calculation unit (28) and sent to the shift calculation unit (23d). At this time, the route calculation unit (23) has already obtained the number of harvesting rows of the combine (1) from the machine type information storage unit (26).

[0201] Here, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (1) travels along the row direction path LA in the southern area CA2. More specifically, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (1) travels in the order of the fourth row direction path LA4, the sixth row direction path LA6, and the fifth row direction path LA5, as shown in FIG. 9.

[0202] For example, as illustrated in FIG. 9, when the combine (1) drives for harvesting in the order of the fourth row direction path LA4, the sixth row direction path LA6, and the fifth row direction path LA5, first, the combine (1) drives for harvesting along the fourth row direction path LA4. By doing so, as illustrated in FIG. 9, the unharvested area in the southern area CA2 becomes the first unharvested area CA21. The number of rows in the first unharvested area CA21 is 9 rows.

[0203] Next, the combine (1) performs a harvesting run along the 6th row direction path LA6. As a result, as shown in FIG. 9, the unharvested area in the southern area CA2 becomes the second unharvested area CA22. The number of rows in the second unharvested area CA22 is 6 rows.

[0204] Finally, the combine (1) performs a mowing run along the 5th direction path LA5. By doing so, the entire southern area CA2 becomes a mowing area.

[0205] Here, when the combine (1) performs a harvesting run along the fourth row direction path LA4, the row located at the right end in the unharvested area is located at the fifth position Q5 shown in FIG. 9. Also, at this time, the row located at the left end in the unharvested area is located at the sixth position Q6 shown in FIG. 9.

[0206] At this time, the third divider (53) is located to the right of the sixth position Q6. Also, the fifth divider (55) is located to the left of the fifth position Q5. Therefore, while the combine (1) is performing a harvesting drive along the fourth row direction path LA4, the above-described predetermined conditions are satisfied.

[0207] Next, when the combine (1) performs a harvesting run along the 6th row direction path LA6, the row located at the right end in the unharvested area is located at the 6th position Q6 shown in FIG. 9. Also, at this time, the row located at the left end in the unharvested area is located at the 7th position Q7 shown in FIG. 9.

[0208] And at this time, the third divider (53) is located to the right of the seventh position Q7. However, the fifth divider (55) is located to the right of the sixth position Q6. Therefore, while the combine (1) is performing a harvesting run along the sixth row direction path LA6, the above-described predetermined conditions are not satisfied.

[0209] For this reason, the shift calculation unit (23d) determines that the predetermined conditions are not always satisfied when the combine (1) drives in the order of the fourth row direction path LA4, the sixth row direction path LA6, and the fifth row direction path LA5. In addition, this determination is made before the combine (1) starts driving along the fourth row direction path LA4.

[0210] As a result, the shift calculation unit (23d) recalculates the positions of the fifth direction path LA5 and the sixth direction path LA6 as shown in FIG. 10. In this example, the positions of the fifth direction path LA5 and the sixth direction path LA6 are each shifted to the north. By doing so, the distance between the fourth direction path LA4 and the fifth direction path LA5 becomes the second shift interval DS2. Additionally, the distance between the fifth direction path LA5 and the sixth direction path LA6 becomes the third shift interval DS3.

[0211] Also, the second shift interval DS2 and the third shift interval DS3 are both narrower than the first interval D1. Additionally, in this example, the second shift interval DS2 and the third shift interval DS3 have the same width.

[0212] And in this example, by shifting the positions of the 5th direction path LA5 and the 6th direction path LA6 to the north, a predetermined condition is always satisfied when the combine (1) travels along the 6th direction path LA.

[0213] To explain in detail, as shown in FIG. 10, when the combine (1) performs a harvesting run along the fourth row direction path LA4, the row located at the right end in the unharvested area is located at the fifth position Q5 shown in FIG. 10. Also, at this time, the row located at the left end in the unharvested area is located at the sixth position Q6 shown in FIG. 10.

[0214] At this time, the third divider (53) is located to the right of the sixth position Q6. Also, the fifth divider (55) is located to the left of the fifth position Q5. Therefore, while the combine (1) is performing a harvesting drive along the fourth row direction path LA4, the above-described predetermined conditions are satisfied.

[0215] Next, when the combine (1) performs a harvesting run along the 6th row direction path LA6, the row located at the right end in the unharvested area is located at the 6th position Q6 shown in FIG. 10. Also, at this time, the row located at the left end in the unharvested area is located at the 7th position Q7 shown in FIG. 10.

[0216] At this time, the third divider (53) is located to the right of the seventh position Q7. Also, the fifth divider (55) is located to the left of the sixth position Q6. Therefore, while the combine (1) is performing a harvesting drive along the sixth row direction path LA6, the above-described predetermined conditions are satisfied.

[0217] Finally, when the combine (1) performs a harvesting run along the 5th row direction path LA5, the row located at the right end in the unharvested area is located at the 7th position Q7 shown in FIG. 10. Also, at this time, the row located at the left end in the unharvested area is located at the 8th position Q8 shown in FIG. 10.

[0218] And at this time, the third divider (53) is located to the right of the eighth position Q8. Also, the fifth divider (55) is located to the left of the seventh position Q7. Therefore, while the combine (1) is performing a harvesting drive along the fifth row direction path LA5, the above-described predetermined conditions are satisfied.

[0219] In this way, in the example illustrated in FIG. 10, a predetermined condition is always satisfied when the combine (1) travels along the path LA in the direction of the harvest.

[0220] In addition, as illustrated in FIGS. 8 and 10, the method of shifting the position of the tidal direction path LA depends on the number of tides in the unforeseen area. That is, the shift calculation unit (23d) shifts the position of the tidal direction path LA according to the number of tides in the unforeseen area.

[0221] In addition, as explained above, when the unharvested area in the packaging is divided into multiple parts, the shift calculation unit (23d) targets only the unharvested area where the combine (1) is currently performing a harvesting run or the unharvested area where the combine (1) is scheduled to perform a harvesting run right nearby among the multiple unharvested areas created by the division, and determines whether a predetermined condition is always satisfied and shifts the position of the row direction path LA.

[0222] Next, as another example in which the position of the row direction path LA is recalculated by the shift calculation unit (23d), the case in which a 5-row harvesting combine (2) performs harvesting travel in a predetermined work area CA3, as shown in FIG. 11, will be explained. The work area CA3 is an unharvested area.

[0223] In addition, the combine (2) has the same configuration as the combine (1), except that the number of cutting rows is different. As shown in FIG. 11, the combine (2) is equipped with six dividers (5) in the first divider (51), second divider (52), third divider (53), fourth divider (54), fifth divider (55), and sixth divider (56).

[0224] And in this example, the specified condition is that "the third divider (53) is located to the right of the row located at the left end in the uncut area, and the fourth divider (54) is located to the left of the row located at the right end in the uncut area."

[0225] In addition, the row direction in work area CA3 is the east-west direction. And before starting the mowing drive in work area CA3, as shown in FIG. 11, four row direction paths LA corresponding to work area CA3 are already calculated: 7th row direction path LA7, 8th row direction path LA8, 9th row direction path LA9, and 10th row direction path LA10.

[0226] In addition, the 7th direction path LA7, 8th direction path LA8, 9th direction path LA9, and 10th direction path LA10 are listed in order from the north. Also, these four 4th direction paths LA are listed with a third interval D3 between them. The third interval D3 is narrower than the first interval D1.

[0227] Also, as shown in FIG. 11, the number of rows in the work area CA3 is 16. At this time, the number of rows in the work area CA3 is calculated by the row number calculation unit (28) and sent to the shift calculation unit (23d). At this time, the path calculation unit (23) has already obtained the number of harvesting rows of the combine (1) from the machine type information storage unit (26).

[0228] Here, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (2) travels along the row direction path LA in the work area CA3. More specifically, the shift calculation unit (23d) determines whether a predetermined condition is always satisfied when the combine (2) travels in the order of the 7th row direction path LA7, the 10th row direction path LA10, the 8th row direction path LA8, and the 9th row direction path LA9 as shown in FIG. 11.

[0229] For example, as illustrated in FIG. 11, when the combine (2) drives for harvesting in the order of row 7 direction path LA7, row 10 direction path LA10, row 8 direction path LA8, and row 9 direction path LA9, first, the combine (2) drives for harvesting along row 7 direction path LA7. By doing so, as illustrated in FIG. 11, the unharvested area in the work area CA3 becomes the first unharvested area CA31. The number of rows in the first unharvested area CA31 is 11 rows.

[0230] Next, the combine (2) performs a harvesting run along the 10th row direction path LA10. By doing so, as shown in FIG. 11, the unharvested area in the work area CA3 becomes the second unharvested area CA32. The number of rows in the second unharvested area CA32 is 10 rows.

[0231] Next, the combine (2) performs a harvesting run along the eighth row direction path LA8. As a result, as shown in FIG. 11, the unharvested area in the work area CA3 becomes the third unharvested area CA33. The number of rows in the third unharvested area CA33 is 5 rows.

[0232] Finally, the combine (2) performs a mowing run along the 9th direction path LA9. By doing so, the entire work area CA3 becomes a mowing area.

[0233] Here, when the combine (2) performs a harvesting run along the 7th row direction path LA7, the row located at the right end in the unharvested area is located at the 9th position Q9 shown in FIG. 11. Also, at this time, the row located at the left end in the unharvested area is located at the 10th position Q10 shown in FIG. 11.

[0234] And at this time, the third divider (53) is located to the right of the 10th position Q10. Also, the fourth divider (54) is located to the left of the 9th position Q9. Therefore, while the combine (2) is performing a harvesting drive along the 7th row direction path LA7, the above-described predetermined conditions are satisfied.

[0235] Next, when the combine (2) performs a harvesting run along the 10th row direction path LA10, the row located at the right end in the unharvested area is located at the 10th position Q10 shown in FIG. 11. Also, at this time, the row located at the left end in the unharvested area is located at the 11th position Q11 shown in FIG. 11.

[0236] And at this time, the third divider (53) is located to the right of the 11th position Q11. However, the fourth divider (54) is located to the right of the 10th position Q10. Therefore, while the combine (2) is performing a harvesting drive along the 10th row direction path LA10, the above-described predetermined conditions are not satisfied.

[0237] For this reason, the shift calculation unit (23d) determines that the predetermined conditions are not always satisfied when the combine (2) drives in the order of the 7th direction path LA7, the 10th direction path LA10, the 8th direction path LA8, and the 9th direction path LA9. In addition, this determination is made before the combine (2) starts driving along the 7th direction path LA7.

[0238] As a result, the shift calculation unit (23d) recalculates the positions of the 8th direction path LA8, the 9th direction path LA9, and the 10th direction path LA10 as shown in FIG. 12. In this example, the positions of the 8th direction path LA8, the 9th direction path LA9, and the 10th direction path LA10 are each shifted to the north. By doing so, the distance between the 7th direction path LA7 and the 8th direction path LA8 becomes the 4th shift interval DS4. Also, the distance between the 8th direction path LA8 and the 9th direction path LA9 becomes the 5th shift interval DS5. Also, the distance between the 9th direction path LA9 and the 10th direction path LA10 becomes the 6th shift interval DS6.

[0239] Also, the fourth shift interval DS4, the fifth shift interval DS5, and the sixth shift interval DS6 are all narrower than the third interval D3. Additionally, in this example, the fourth shift interval DS4, the fifth shift interval DS5, and the sixth shift interval DS6 have the same width.

[0240] And in this example, by shifting the positions of the 8th direction path LA8, the 9th direction path LA9, and the 10th direction path LA10 to the north, a predetermined condition is always satisfied when the combine (2) travels along the 9th direction path LA.

[0241] To explain in detail, as shown in FIG. 12, when the combine (2) performs a harvesting run along the 7th row direction path LA7, the row located at the right end in the unharvested area is located at the 9th position Q9 shown in FIG. 12. Also, at this time, the row located at the left end in the unharvested area is located at the 10th position Q10 shown in FIG. 12.

[0242] And at this time, the third divider (53) is located to the right of the 10th position Q10. Also, the fourth divider (54) is located to the left of the 9th position Q9. Therefore, while the combine (2) is performing a harvesting drive along the 7th row direction path LA7, the above-described predetermined conditions are satisfied.

[0243] Next, when the combine (2) performs a harvesting run along the 10th row direction path LA10, the row located at the right end in the unharvested area is located at the 10th position Q10 shown in FIG. 12. Also, at this time, the row located at the left end in the unharvested area is located at the 11th position Q11 shown in FIG. 12.

[0244] And at this time, the third divider (53) is located to the right of the 11th position Q11. Also, the fourth divider (54) is located to the left of the 10th position Q10. Therefore, while the combine (2) is performing a harvesting drive along the 10th row direction path LA10, the above-described predetermined conditions are satisfied.

[0245] Next, when the combine (2) performs a harvesting run along the eighth row direction path LA8, the row located at the right end in the unharvested area is located at the 11th position Q11 shown in FIG. 12. Also, at this time, the row located at the left end in the unharvested area is located at the 12th position Q12 shown in FIG. 12.

[0246] At this time, the third divider (53) is located to the right of the 12th position Q12. Also, the fourth divider (54) is located to the left of the 11th position Q11. Therefore, while the combine (2) is performing a harvesting drive along the 8th row direction path LA8, the above-described predetermined conditions are satisfied.

[0247] Finally, when the combine (2) performs a harvesting run along the 9th row direction path LA9, the row located at the right end in the unharvested area is located at the 12th position Q12 shown in FIG. 12. Also, at this time, the row located at the left end in the unharvested area is located at the 13th position Q13 shown in FIG. 12.

[0248] And at this time, the third divider (53) is located to the right of the 13th position Q13. Also, the fourth divider (54) is located to the left of the 12th position Q12. Therefore, while the combine (2) is performing a harvesting drive along the 9th row direction path LA9, the above-described predetermined conditions are satisfied.

[0249] In this way, in the example illustrated in FIG. 12, a predetermined condition is always satisfied when the combine (2) travels along the path LA in the direction of the harvest.

[0250] In addition, as illustrated in FIGS. 8 and 12, the method of shifting the position of the row direction path LA depends on the number of rows being cut. That is, the shift calculation unit (23d) shifts the position of the row direction path LA according to the number of rows being cut.

[0251] [Composition of the Direction Determination Unit]

[0252] As illustrated in FIG. 5, the automatic driving system A is equipped with a communication terminal (4). The communication terminal (4) has a steering direction determining unit (4c). Below, the function of the steering direction determining unit (4c) will be explained.

[0253] As illustrated in FIG. 13, the combine (1) can perform a harvesting drive by automatic driving in an unharvested area that is square or non-rectangular in shape. And the automatic driving system A can manage such automatic driving.

[0254] That is, automatic driving system A manages the automatic driving of a combine (1) that performs mowing driving in a square-shaped unmowing area in the packaging.

[0255] As illustrated in FIGS. 5, 14, and 15, the communication terminal (4) has a touch panel (4a) (corresponding to a 'selection unit' according to the present invention). The touch panel (4a) selects one of the four sides constituting the outline of the unpredicted area according to a touch operation by an operator. That is, the operator can select one of the four sides constituting the outline of the unpredicted area by touching the touch panel (4a).

[0256] For example, in FIG. 14, an outer area SA and a work target area CA are displayed on the touch panel (4a). At this time, the entire work target area CA is considered to be an unprepared area. In addition, the four sides constituting the outline of the unprepared area are the first side S1, the second side S2, the third side S3, and the fourth side S4, respectively.

[0257] The first side S1 is located at the northern end of the uncut area. The second side S2 is located at the western end of the uncut area, adjacent to the first side S1 on the outline of the uncut area. The third side S3 is opposite the first side S1 and is located at the southern end of the uncut area. The fourth side S4 is opposite the second side S2 on the outline of the uncut area and is located at the eastern end of the uncut area.

[0258] And as illustrated in FIG. 14, the operator touches any of the first side S1, second side S2, third side S3, and fourth side S4 displayed on the touch panel (4a). By doing so, the operator can select one side among the first side S1, second side S2, third side S3, and fourth side S4.

[0259] That is, the automatic driving system A is equipped with a touch panel (4a) that selects one of the four sides constituting the contour of the unpredicted area.

[0260] In the example illustrated in FIG. 14, the operator touches the first side S1. By doing so, the first side S1 is selected. Then, as illustrated in FIG. 15, the selected side is highlighted on the touch panel (4a). In this example, since the first side S1 is selected, the first side S1 is highlighted as illustrated in FIG. 15.

[0261] In addition, as illustrated in FIG. 5, the communication terminal (4) has a judgment unit (4b). Information indicating a selected variable is sent from the touch panel (4a) to the judgment unit (4b) and the direction determination unit (4c). Also, a selected variable is a variable selected by the touch panel (4a).

[0262] And the judgment unit (4b) determines whether the slope of the side opposite the selected side with respect to the selected side is less than or equal to a predetermined reference angle. For example, in the case illustrated in FIG. 15, the judgment unit (4b) determines whether the slope of the third side S3 with respect to the first side S1 is less than or equal to a reference angle.

[0263] That is, the automatic driving system A is equipped with a determination unit (4b) that determines whether the slope of the side of the selected variable, for a variable selected by the touch panel (4a), is less than or equal to a predetermined reference angle.

[0264] As illustrated in FIG. 5, the judgment result by the judgment unit (4b) is sent to the direction determination unit (4c). In addition, the position coordinates of the combine (1) calculated by the vehicle position calculation unit (21) are sent to the communication terminal (4).

[0265] In addition, when the driving of the combine (1) transitions from spiral driving to reciprocating driving, the driving control unit (24) sends a predetermined signal to the direction determining unit (4c). This signal indicates the transition from spiral driving to reciprocating driving.

[0266] And the row direction determining unit (4c) determines the row direction in the unharvested area based on information indicating the selected variable, the judgment result by the judgment unit (4b), the position coordinates of the combine (1), and the above-described signal received from the driving control unit (24).

[0267] More specifically, when the judgment unit (4b) determines that the slope of the opposite side of the selected side is greater than the reference angle, the direction determining unit (4c) determines the direction in which the selected side is extended as the direction.

[0268] Additionally, if the judgment unit (4b) determines that the slope of the opposite side of the selected side is less than or equal to the reference angle, the direction determining unit (4c) determines, according to the state of the gas, either the direction in which the selected side extends or the direction in which the opposite side of the selected side extends as the direction of the selected side.

[0269] In addition, the position coordinates of the combine (1) and the transition from vortex driving to reciprocating driving all correspond to the "state of the machine" described above.

[0270] That is, the automatic driving system A is equipped with a direction determining unit (4c) that determines the direction of the drive in the un-prepared area.

[0271] Information indicating the row direction determined by the row direction determining unit (4c) is sent to the driving control unit (24). Then, the driving control unit (24) controls the driving of the combine (1) so that the harvesting driving is performed along the direction determined as the row direction by the row direction determining unit (4c) during reciprocal driving.

[0272] Below, regarding the determination of the direction of harvesting in the case where the inclination of the opposite side of the selected side with respect to the selected side is determined by the judgment unit (4b) to be less than or equal to the reference angle, the case where the combine (1) performs harvesting work in the field shown in FIG. 13, FIG. 16 to FIG. 18 is explained as an example.

[0273] In this example, as shown in FIG. 13, the combine (1) first performs a mowing run in the outer periphery area of ​​the packaging. When this mowing run is completed, the outer periphery area SA and the work target area CA are calculated by the area calculation unit (22).

[0274] In this case, the unharvested area in the packaging coincides with the work target area CA. And in this example, the work target area CA is rectangular in shape.

[0275] And the four sides constituting the outline of the work target area CA are the first side S1, the second side S2, the third side S3, and the fourth side S4. The first side S1 is located on the north side of the work target area CA. The second side S2 is adjacent to the first side S1 and is located on the west side of the work target area CA. The third side S3 is opposite the first side S1 and is located on the south side of the work target area CA. The fourth side S4 is opposite the second side S2 and is located on the east side of the work target area CA.

[0276] In addition, in this example, as shown in FIGS. 14 and 15, the first variable S1 is selected by the touch panel (4a). That is, the first variable S1 is a selected variable.

[0277] In this example as well, as described above, the path calculation unit (23) calculates the cutting driving path LN in the work target area CA based on the calculation result received from the area calculation unit (22).

[0278] In the above description, the path calculation unit (23) calculated a mowing travel path LN, which is a plurality of mesh lines extending in the longitudinal and transverse directions as shown in FIG. 3. However, the path calculation unit (23) is configured to also be able to calculate the mowing travel path LN as shown in FIG. 13.

[0279] The mowing travel path LN illustrated in FIG. 13 is composed of a plurality of first paths L1 arranged parallel to each other at predetermined intervals, a plurality of second paths L2 arranged parallel to each other at predetermined intervals, a plurality of third paths L3 arranged parallel to each other at predetermined intervals, and a plurality of fourth paths L4 arranged parallel to each other at predetermined intervals.

[0280] And multiple first paths L1 are arranged parallel to the first side S1. Also, multiple second paths L2 are arranged parallel to the second side S2. Also, multiple third paths L3 are arranged parallel to the third side S3. Also, multiple fourth paths L4 are arranged parallel to the fourth side S4.

[0281] That is, the path calculation unit (23) calculates a plurality of first paths L1 arranged at predetermined intervals parallel to the first variable S1, a selection variable, a plurality of second paths L2 arranged at predetermined intervals parallel to the second variable S2 adjacent to the first variable S1 in the outline of the uncut area, a plurality of third paths L3 arranged at predetermined intervals parallel to the third variable S3 opposite the selection variable, and a plurality of fourth paths L4 arranged at predetermined intervals parallel to the fourth variable S4 opposite the second variable S2 in the outline of the uncut area as the cutting driving path LN.

[0282] When the harvesting driving path LN is calculated by the path calculation unit (23), the combine (1) starts driving in a spiral motion under the control of the driving control unit (24), as shown in FIG. 16.

[0283] In this example, during the spiral drive, the combine (1) first performs a harvesting drive along the northern first drive path L11. Also, the northern first drive path L11 is the first path L1 closest to the first side S1 among the plurality of first paths L1.

[0284] Next, the combine (1) performs a harvesting drive along the first western driving path L21. Also, the first western driving path L21 is the second path L2 closest to the second side S2 among the plurality of second paths L2.

[0285] Next, the combine (1) performs a harvesting drive along the first southern driving path L31. Also, the first southern driving path L31 is the third path L3 closest to the third side S3 among the plurality of third paths L3.

[0286] Next, the combine (1) performs a harvesting drive along the first driving path L41 on the east side. Also, the first driving path L41 on the east side is the fourth path L4 closest to the fourth side S4 among the plurality of fourth paths L4.

[0287] Next, the combine (1) performs a mowing drive along the northern second driving path L12. Also, the northern second driving path L12 is the first path L1 closest to the first side S1 among the first paths L1 for which mowing has not yet been performed.

[0288] Once the mowing drive along the northern second driving route L12 is completed, the mowing drive is subsequently performed sequentially along the western second driving route L22, the southern second driving route L32, and the eastern second driving route L42.

[0289] Additionally, the western second driving path L22 is the second path L2 closest to the second side S2 among the second paths L2 for which mowing has not yet been performed. Additionally, the southern second driving path L32 is the third path L3 closest to the third side S3 among the third paths L3 for which mowing has not yet been performed. Additionally, the eastern second driving path L42 is the fourth path L4 closest to the fourth side S4 among the fourth paths L4 for which mowing has not yet been performed.

[0290] That is, the driving control unit (24) controls the driving of the combine (1) such that, in the vortex driving, a cutting drive following the first path L1 is followed by a cutting drive following the second path L2, a cutting drive following the second path L2 is followed by a cutting drive following the third path L3, a cutting drive following the third path L3 is followed by a cutting drive following the fourth path L4, and a cutting drive following the fourth path L4 is followed by a cutting drive following the first path L1.

[0291] In addition, in this example, the driving control unit (24) controls the driving of the combine (1) so that, in the spiral driving, a harvesting drive following the first path L1 is performed first. However, the present invention is not limited thereto, and the driving control unit (24) may be configured to control the driving of the combine (1) so that, in the spiral driving, a harvesting drive following any one of the second path L2, the third path L3, and the fourth path L4 is performed first.

[0292] In addition, the number of rotations of the combine (1) during the spiral drive may be only one. That is, during the spiral drive, the mowing drive following the northern second driving path L12, western second driving path L22, southern second driving path L32, and eastern second driving path L42 shown in FIG. 16 does not need to be performed. In addition, the number of rotations of the combine (1) during the spiral drive may be any number of rotations of two or more.

[0293] Here, in this example, the slope of the third side S3 with respect to the first side S1 is considered to be less than or equal to the reference angle. Accordingly, the judgment unit (4b) determines that the slope of the side opposite the selected side with respect to the selected side is less than or equal to the reference angle.

[0294] And when the judgment unit (4b) determines that the slope of the side of the selected side is less than or equal to the reference angle, and when the driving of the combine (1) transitions to reciprocating driving at the point when the harvesting drive following the first path L1 or the second path L2 in the spiral drive is completed, the row direction determining unit (4c) determines the direction in which the side of the selected side extends as the row direction. In addition, in this case, the driving control unit (24) controls the driving of the combine (1) so that the harvesting drive following the third path L3 is performed in the reciprocating drive.

[0295] In addition, when the judgment unit (4b) determines that the slope of the side of the selected side is less than or equal to the reference angle, and when the driving of the combine (1) transitions to reciprocating driving at the point when the cutting drive following the third path L3 or the fourth path L4 in the spiral driving is completed, the row direction determining unit (4c) determines the direction in which the selected side extends as the row direction. In addition, in this case, the driving control unit (24) controls the driving of the combine (1) so that the cutting drive following the first path L1 is performed in the reciprocating driving.

[0296] For example, in the example illustrated in FIG. 17, as shown in the upper part of FIG. 17, in the vortex drive, a mowing drive following the first path L1 is performed after a mowing drive following the fourth path L4. Then, the vortex drive is completed at the point when the mowing drive following the first path L1 is completed.

[0297] That is, in the example illustrated in FIG. 17, when the harvesting drive following the first path L1 in the spiral drive is completed, the drive of the combine (1) transitions to a reciprocating drive.

[0298] In this case, the row direction determining unit (4c) determines the direction in which the side of the selected side extends as the row direction. That is, the row direction determining unit (4c) determines the direction in which the third side S3 extends as the row direction. And as shown in the lower part of FIG. 17, the driving control unit (24) controls the driving of the combine (1) so that a harvesting drive following the third path L3 is performed during the reciprocating drive.

[0299] Also, in this case, when transitioning to a round trip, the combine (1) moves from the vicinity of the northwestern part of the unharvested area to the vicinity of the southwestern part of the unharvested area. And the first harvesting trip in the round trip is performed along the third path L3 that is closest to the third side S3 among the third path L3 where no harvesting trip has been performed yet.

[0300] In addition, in the example illustrated in FIG. 18, as shown in the upper part of FIG. 18, in the vortex drive, a mowing drive following the third path L3 is performed after a mowing drive following the second path L2. And the vortex drive is completed when the mowing drive following the third path L3 is completed.

[0301] That is, in the example illustrated in FIG. 18, when the harvesting drive following the third path L3 in the spiral drive is completed, the drive of the combine (1) transitions to a reciprocating drive.

[0302] In this case, the row direction determining unit (4c) determines the direction in which the selected variable is extended as the row direction. That is, the row direction determining unit (4c) determines the direction in which the first variable S1 is extended as the row direction. And as shown in the lower part of FIG. 18, the driving control unit (24) controls the driving of the combine (1) so that a harvesting drive following the first path L1 is performed during the reciprocating drive.

[0303] Also, in this case, when transitioning to a round trip, the combine (1) moves from the vicinity of the southeastern part of the unharvested area to the vicinity of the northeastern part of the unharvested area. And the first harvesting trip in the round trip is performed along the first path L1 that is closest to the first side S1 among the first path L1 where no harvesting trip has been performed yet.

[0304] With the configuration described above, by making the number of items relatively small, when the combine (1) travels along the path LA in the direction of the harvesting, the width of the passing range of the harvesting section H and the overlapping range of the harvesting area is narrowed relatively easily.

[0305] For example, when the combine (1) is a 6-row harvesting machine and has 7 dividers (5) and a predetermined number of 3, when the combine (1) travels along the row direction path LA, the third divider (5) from the left end is located to the right of the row located at the left end in the unharvested area, and the third divider (5) from the right end is located to the left of the row located at the right end in the unharvested area. As a result, the harvesting drive is performed with 4 rows of unharvested grain located between the second divider (5) from the left end and the second divider (5) from the right end.

[0306] And at this time, when the portion between the left divider (5) and the second divider (5) from the left passes through the uncut area, the passing range of the cutting unit H and the pre-cut area do not overlap in the left portion of the cutting unit H. Also, when the portion between the left divider (5) and the second divider (5) from the left passes through the pre-cut area, the width of the overlapping range between the passing range of the cutting unit H and the pre-cut area in the left portion of the cutting unit H is 1 set.

[0307] That is, in the left portion of the cutting unit H, the width of the overlapping range between the passing range of the cutting unit H and the cutting area is 1 set at most.

[0308] Likewise, in the right side of the cutting unit H, the width of the overlap between the passing range of the cutting unit H and the cutting area is 1 set at most.

[0309] Therefore, in this case, compared to a configuration where the width of the overlapping range between the passing range of the cutting unit H and the cutting area in the left or right part of the cutting unit H is 2 or more, the width of the overlapping range between the passing range of the cutting unit H and the cutting area is narrowed.

[0310] In this way, with the configuration described above, when the combine (1) travels along the milling path LA, the width of the overlapping range between the passing range of the cutting unit H and the cutting area is narrowed relatively easily. By doing so, it is possible to realize an automatic driving system A that is easy to avoid a situation where the overlapping range between the passing range of the cutting unit H and the cutting area becomes relatively wide.

[0311] In addition, with the configuration described above, during the first harvesting drive, the operator performs the harvesting drive in the direction of the rows while visually confirming the position of the rows in the field. Therefore, during the harvesting drive in the direction of the rows in the first harvesting drive, the position where a specific part of the combine (1) passes is likely to be a position corresponding to the position of the rows in the field.

[0312] And with the configuration described above, a milling path LA, which is a milling path LN for a second harvesting drive, is calculated based on the position where a specific part of the combine (1) passes during the milling path in the first harvesting drive. Therefore, the position of the milling path LA is likely to be a position corresponding to the position of the mill in the field. As a result, the position of the milling path LA is likely to be an appropriate position.

[0313] Therefore, with the configuration described above, it is possible to realize an automatic driving system A in which the position of the mowing driving path LN in the direction of the mowing can easily be set to an appropriate position.

[0314] In addition, with the configuration described above, it is possible to realize a configuration in which an operator visually confirms the actual milling direction in packaging and selects one side using a touch panel (4a). Therefore, the direction in which the selected side extends is likely to coincide with the actual milling direction. Furthermore, if the inclination of the side opposite to the selected side relative to the selected side is greater than the reference angle, the direction in which the selected side extends is determined as the milling direction. Therefore, if the inclination of the side opposite to the selected side relative to the selected side is greater than the reference angle, the threshing efficiency and driving efficiency are likely to be improved when automatic driving is performed along the determined milling direction.

[0315] Furthermore, if the inclination of the opposite side of the selected side relative to the selected side is determined to be less than or equal to the reference angle, either the direction in which the selected side extends or the direction in which the opposite side extends is determined as the milling direction. In this case, if the direction in which the selected side extends is determined as the milling direction, the determined milling direction is likely to coincide with the actual milling direction. Additionally, if the direction in which the opposite side extends is determined as the milling direction, the difference between the determined milling direction and the actual milling direction is likely to be relatively small. Therefore, even if the inclination of the opposite side of the selected side relative to the selected side is less than or equal to the reference angle, the threshing efficiency and driving efficiency tend to be good when automatic driving is performed along the determined milling direction.

[0316] Furthermore, when the inclination of the side opposite the selected side with respect to the selected side is less than or equal to a reference angle, either the direction in which the selected side extends or the direction in which the side opposite the selected side extends is determined as the driving direction according to the state of the gas. By doing so, it is possible to realize a configuration in which, from the direction in which the selected side extends and the direction in which the side opposite the selected side extends, the direction in which driving efficiency is more likely to be improved is determined as the driving direction according to the state of the gas.

[0317] Therefore, with the configuration described above, it is possible to realize an automatic driving system in which threshing efficiency and driving efficiency are easily improved.

[0318] Furthermore, the embodiments described above are merely examples, and the present invention is not limited thereto but can be appropriately modified.

[0319] [Other embodiments]

[0320] (1) The driving device (11) may be a wheel type or a semi-crawler type.

[0321] (2) In the example illustrated in FIG. 3, the cutting travel path LN calculated by the path calculation unit (23) is a plurality of mesh lines extending in the longitudinal and transverse directions. However, the present invention is not limited thereto, and the cutting travel path LN calculated by the path calculation unit (23) does not have to be a plurality of mesh lines extending in the longitudinal and transverse directions. For example, the cutting travel path LN calculated by the path calculation unit (23) may be a spiral travel path. Also, the cutting travel path LN does not have to be orthogonal to other cutting travel paths LN. Additionally, the cutting travel path LN calculated by the path calculation unit (23) may be a plurality of parallel lines that are parallel to each other.

[0322] (3) Some or all of the vehicle location calculation unit (21), area calculation unit (22), route calculation unit (23), driving control unit (24), passing standard location calculation unit (25), model information storage unit (26), row acquisition unit (27), and row count calculation unit (28) may be provided outside the combine (1), for example, on a management server (6) provided outside the combine (1).

[0323] (4) Either one or both of the judgment unit (4b) and the direction determination unit (4c) may be provided outside the communication terminal (4), and for example, may be provided in a management server (6) provided outside the combine (1).

[0324] (5) In the above embodiment, the operator manually operates the combine (1) to perform a mowing run along the boundary line BD of the packaging in the outer part of the packaging as shown in FIG. 2. However, the present invention is not limited thereto, and the combine (1) may be configured to drive automatically to perform a mowing run along the boundary line BD of the packaging in the outer part of the packaging. In addition, the number of runs at this time may be a number other than 3. For example, the number of runs at this time may be 2.

[0325] (6) The “predetermined number” according to the present invention may be any number other than three. For example, the predetermined number may be two. In this case, in the automatic driving system A that manages the automatic driving of the 6-row harvesting combine (1), the predetermined condition is that “the second divider (52) is located to the right of the row located at the left end in the unharvested area, and the sixth divider (56) is located to the left of the row located at the right end in the unharvested area.”

[0326] (7) The path calculation unit (23) may calculate the row direction path LA regardless of the calculation result of the row number calculation unit (28), and may calculate the row direction path LA regardless of the number of rows harvested by the combine (1).

[0327] (8) The “predetermined part” according to the present invention may not be a divider (5) located at the left or right end among a plurality of dividers (5). For example, the “predetermined part” according to the present invention may be the center position of the cutting width of the cutting unit H when the combine (1) is viewed in a plane, may be the left or right end of the body of the combine (1), or may be a satellite positioning module (80).

[0328] (9) The path calculation unit (23) may determine the distance between the passing reference position and the row direction path LA regardless of the number of rows of the combine (1).

[0329] (10) The driving control unit (24) may control the driving of the combine (1) so that the combine (1) drives the entire unharvested area by only driving in a spiral motion.

[0330] (11) The driving control unit (24) may control the driving of the combine (1) so that the combine (1) drives the entire unharvested area by only driving back and forth.

[0331] (12) The driving control unit (24) may control the driving of the combine (1) so that, in the reciprocating driving, the cutting driving is performed in a direction different from the direction determined as the cutting direction by the cutting direction determining unit (4c).

[0332] (13) In the example illustrated in FIG. 13, the first side S1, the second side S2, the third side S3, and the fourth side S4 are arranged in a counterclockwise direction when viewed in a plane. However, the present invention is not limited thereto, and the first side S1, the second side S2, the third side S3, and the fourth side S4 may be arranged in a clockwise direction when viewed in a plane.

[0333] (14) The directions of east, west, north, and south are not limited to the above embodiments. For example, the first side S1 may be located at the southern end of the unprepared area.

[0334] (15) When the judgment unit (4b) determines that the slope of the side of the selected side is less than or equal to the reference angle, and when the driving of the combine (1) transitions to a reciprocating drive at the point when the cutting drive following the first path L1 or the second path L2 in the vortex drive is completed, the row direction determining unit (4c) may determine the direction other than the direction in which the side of the selected side extends as the row direction.

[0335] (16) When the judgment unit (4b) determines that the slope of the opposite side of the selected side is less than or equal to the reference angle, and when the driving of the combine (1) transitions to a reciprocal driving at the point when the cutting driving following the first path L1 or the second path L2 in the vortex driving is completed, the driving control unit (24) may control the driving of the combine (1) so that the cutting driving following the cutting driving path LN other than the third path L3 is performed in the reciprocal driving.

[0336] (17) When the judgment unit (4b) determines that the slope of the opposite side of the selected side is less than or equal to the reference angle, and when the harvesting drive following the third path L3 or the fourth path L4 in the vortex drive is completed, the drive of the combine (1) transitions to a reciprocal drive, the row direction determining unit (4c) may determine a direction other than the direction in which the selected side is extended as the row direction.

[0337] (18) When the judgment unit (4b) determines that the slope of the opposite side of the selected side is less than or equal to the reference angle, and when the driving of the combine (1) transitions to a reciprocal driving at the point when the cutting driving following the third path L3 or the fourth path L4 in the vortex driving is completed, the driving control unit (24) may control the driving of the combine (1) so that the cutting driving following the cutting driving path LN other than the first path L1 is performed in the reciprocal driving. Industrial applicability

[0338] The present invention can be used in an automatic driving system that manages the automatic driving of a combine.

[0339] In addition, this name can be used not only for self-propelled combines but also for various harvesters such as ordinary combines, corn harvesters, and sugarcane harvesters. Explanation of the symbols

[0340] 1, 2: Combine (harvester) 5: Divider 23: Path Calculation Unit 27: Morning Acquisition Department 28: Tide Calculation Section A: Automatic driving system D1: First interval D2: Second interval H: Cutting unit LA: Directional path (Target driving path) LB: Lateral path LN: Mowing Route (Target Route) SA: Outsourcing Area

Claims

Claim 1 An automatic driving system for managing the automatic driving of a combine having a plurality of dividers for dividing and sweeping the planting gaps of a package and a cutting unit for cutting the planting gaps of a package, the system having a path calculation unit for calculating a target driving path for automatic driving following a row direction, wherein the path calculation unit is configured to calculate the target driving path such that a predetermined condition is always satisfied when the combine drives along the target driving path, and the predetermined condition is that a predetermined number of dividers from the left end among the plurality of dividers is located to the right of the row located at the left end in the uncut area, and also that a predetermined number of dividers from the right end among the plurality of dividers is located to the left of the row located at the right end in the uncut area. Claim 2 An automatic driving system according to claim 1, wherein the predetermined number is 3. Claim 3 An automatic driving system according to claim 1 or 2, comprising a row count calculation unit for calculating the row count of the unharvested area, wherein the path calculation unit calculates the target driving path based on the calculation result of the row count calculation unit and the row count of the combine harvester. Claim 4 An automatic driving system for managing automatic driving of a harvester that harvests crops in a field by a first harvesting drive performed by manual driving in an outer area of ​​the field, and a second harvesting drive performed by automatic driving in an area inside the field rather than the outer area after the first harvesting drive, the system having a path calculation unit that calculates a target driving path for the second harvesting drive, the path calculation unit calculates a row direction path, which is the target driving path for the second harvesting drive, based on a passing reference position, which is a position where a predetermined part of the harvester has passed during the harvesting drive in the row direction during the harvesting drive in the first harvesting drive, and the harvester has a plurality of dividers that divide and sweep the planting space of the field, and the predetermined part is a divider located at the left or right end of the plurality of dividers. Claim 5 delete Claim 6 In paragraph 4, the harvester is a combine having a cutting unit for cutting planting rows of a package, and the path calculation unit is an automatic driving system that determines the distance between the passing reference position and the row direction path based on the number of cutting rows of the harvester. Claim 7 An automatic driving system according to claim 4, comprising a row interval acquisition unit that acquires row interval information, which is information indicating the row interval in packaging, and a path calculation unit that determines the distance between the passing reference position and the row direction path based on the row interval information. Claim 8 In paragraph 4, the harvester is a combine having a cutting unit for cutting planting rows of a package, and the path calculation unit is configured to calculate a plurality of row-direction paths arranged in parallel at a predetermined first interval, and the path calculation unit determines the first interval based on the number of cutting rows of the harvester, an automatic driving system. Claim 9 An automatic driving system according to claim 4, comprising a row interval acquisition unit for acquiring row interval information which is information indicating the row interval in packaging, wherein the path calculation unit is configured to calculate a plurality of row direction paths arranged in parallel at a predetermined first interval, and wherein the path calculation unit determines the first interval based on the row interval information. Claim 10 An automatic driving system for managing automatic driving of a combine that performs a cutting drive in a rectangular uncut area in packaging, comprising: a selection unit for selecting one of four sides constituting the outline of the uncut area; a determination unit for determining whether the slope of the side opposite the selected side, with respect to the selected side selected by the selection unit, is less than or equal to a predetermined reference angle; and a cutting direction determination unit for determining the cutting direction in the uncut area, wherein if the determination unit determines that the slope is greater than the reference angle, the cutting direction determination unit determines the direction in which the selected side extends as the cutting direction; and if the determination unit determines that the slope is less than or equal to the reference angle, the cutting direction determination unit determines either the direction in which the selected side extends or the direction in which the side opposite the selected side extends as the cutting direction according to the state of the machine. Claim 11 An automatic driving system according to claim 10, comprising a driving control unit that controls the driving of the combine to perform a spiral driving that cuts the outer periphery of the uncut area in a spiral shape, a reciprocating driving that repeats cutting while moving forward and changing direction by a U-turn, wherein the driving control unit controls the driving of the combine to transition to the reciprocating driving after the spiral driving, and in the reciprocating driving, controls the driving of the combine to perform cutting driving along the direction determined as the row direction by the row direction determining unit. Claim 12 In claim 11, a path calculation unit is provided for calculating a target driving path for the above-mentioned spiral driving and the above-mentioned reciprocating driving, wherein the path calculation unit calculates as the target driving path a plurality of first paths arranged at predetermined intervals parallel to the first side of the selection variable, a plurality of second paths arranged at predetermined intervals parallel to the second side adjacent to the first side in the contour, a plurality of third paths arranged at predetermined intervals parallel to the third side opposite the selection side, and a plurality of fourth paths arranged at predetermined intervals parallel to the fourth side opposite the second side in the contour, and wherein, in the above-mentioned spiral driving, the driving control unit performs a mowing driving following the first path followed by a mowing driving following the second path, performs a mowing driving following the second path followed by a mowing driving following the second path, performs a mowing driving following the fourth path followed by a mowing driving following the third path, and performs a mowing driving following the first path followed by a mowing driving following the fourth path. Controlling the driving of the combine, and when the inclination is determined by the judgment unit to be less than or equal to the reference angle, and when the driving of the combine transitions to the reciprocating driving at the point where the harvesting driving along the first path or the second path in the spiral driving is completed, the row direction determining unit determines the direction in which the opposite side of the selected side extends as the row direction, and the driving control unit controls the driving of the combine so that a harvesting driving along the third path is performed in the reciprocating driving, and when the inclination is determined by the judgment unit to be less than or equal to the reference angle, and when the driving of the combine transitions to the reciprocating driving at the point where the harvesting driving along the third path or the fourth path in the spiral driving is completed, the row direction determining unit determines the direction in which the selected side extends as the row direction, andThe above driving control unit is an automatic driving system that controls the driving of the combine so that, in the reciprocating driving, a harvesting drive following the first path is performed.

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